├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README.md ├── include └── ur5controller │ └── plugindefs.h ├── manifest.xml ├── package.xml ├── pythonsrc └── ur5_robot │ ├── __init__.py │ ├── ur5_factory.py │ └── ur5_robot.py ├── repo_assets ├── ridgeback_ur5.png ├── ridgeback_ur5_fts150_gripper.png ├── ridgeback_ur5_gripper.png └── ur5_example.png ├── scripts ├── control_ur5.py ├── simple_ur5.py └── test_env.xml ├── src ├── robotiqcontroller.cpp ├── ur5controller.cpp └── ur5controller_interface.cpp └── ur5_description ├── arm └── meshes │ ├── collision │ ├── base.stl │ ├── forearm.stl │ ├── shoulder.stl │ ├── upperarm.stl │ ├── wrist1.stl │ ├── wrist2.stl │ └── wrist3.stl │ └── visual │ ├── arm_stand.stl │ ├── base.dae │ ├── computer_box.stl │ ├── forearm.dae │ ├── shoulder.dae │ ├── upperarm.dae │ ├── wrist1.dae │ ├── wrist2.dae │ └── wrist3.dae ├── ridgeback ├── 3dm-gxX.stl ├── axle.stl ├── body-collision.stl ├── body.stl ├── end-cover.stl ├── lights.stl ├── rocker.stl ├── side-cover.stl ├── top.stl ├── ust-10lx.stl └── wheel.stl ├── robotiq_force_torque_sensor └── meshes │ ├── collision │ └── robotiq_fts150.stl │ └── visual │ └── robotiq_fts150.stl ├── robotiq_two_finger_gripper └── meshes │ ├── collision │ ├── base.stl │ ├── coupler.stl │ ├── driver.stl │ ├── follower.stl │ ├── pad.stl │ └── spring_link.stl │ └── visual │ ├── base.dae │ ├── coupler.dae │ ├── driver.dae │ ├── follower.dae │ ├── pad.dae │ └── spring_link.dae ├── srdf ├── clearpath_ridgeback__ur5.srdf ├── clearpath_ridgeback__ur5__robotiq_two_finger_gripper.srdf └── clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.srdf └── urdf ├── clearpath_ridgeback__ur5.urdf ├── clearpath_ridgeback__ur5__robotiq_two_finger_gripper.urdf └── clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.urdf /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | 34 | # Compiled Directories 35 | bin/ 36 | build/ 37 | lib/ 38 | 39 | .idea/ 40 | *~ 41 | 42 | # Byte-compiled / optimized / DLL files 43 | __pycache__/ 44 | *.py[cod] 45 | *$py.class 46 | 47 | # C extensions 48 | *.so 49 | 50 | # Distribution / packaging 51 | .Python 52 | build/ 53 | develop-eggs/ 54 | dist/ 55 | downloads/ 56 | eggs/ 57 | .eggs/ 58 | lib/ 59 | lib64/ 60 | parts/ 61 | sdist/ 62 | var/ 63 | wheels/ 64 | *.egg-info/ 65 | .installed.cfg 66 | *.egg 67 | MANIFEST 68 | 69 | # PyInstaller 70 | # Usually these files are written by a python script from a template 71 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 72 | *.manifest 73 | *.spec 74 | 75 | # Installer logs 76 | pip-log.txt 77 | pip-delete-this-directory.txt 78 | 79 | # Unit test / coverage reports 80 | htmlcov/ 81 | .tox/ 82 | .coverage 83 | .coverage.* 84 | .cache 85 | nosetests.xml 86 | coverage.xml 87 | *.cover 88 | .hypothesis/ 89 | .pytest_cache/ 90 | 91 | # Translations 92 | *.mo 93 | *.pot 94 | 95 | # Django stuff: 96 | *.log 97 | local_settings.py 98 | db.sqlite3 99 | 100 | # Flask stuff: 101 | instance/ 102 | .webassets-cache 103 | 104 | # Scrapy stuff: 105 | .scrapy 106 | 107 | # Sphinx documentation 108 | docs/_build/ 109 | 110 | # PyBuilder 111 | target/ 112 | 113 | # Jupyter Notebook 114 | .ipynb_checkpoints 115 | 116 | # pyenv 117 | .python-version 118 | 119 | # celery beat schedule file 120 | celerybeat-schedule 121 | 122 | # SageMath parsed files 123 | *.sage.py 124 | 125 | # Environments 126 | .env 127 | .venv 128 | env/ 129 | venv/ 130 | ENV/ 131 | env.bak/ 132 | venv.bak/ 133 | 134 | # Spyder project settings 135 | .spyderproject 136 | .spyproject 137 | 138 | # Rope project settings 139 | .ropeproject 140 | 141 | # mkdocs documentation 142 | /site 143 | 144 | # mypy 145 | .mypy_cache/ 146 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | project(ur5controller) 3 | 4 | include(CheckCXXSourceCompiles) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | geometry_msgs 8 | openrave_catkin 9 | std_msgs 10 | robotiq_c_model_control 11 | trajectory_msgs 12 | actionlib 13 | actionlib_msgs 14 | control_msgs 15 | ) 16 | 17 | set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") 18 | 19 | include_directories(SYSTEM 20 | ${catkin_INCLUDE_DIRS} 21 | ${OpenRAVE_INCLUDE_DIRS} 22 | ${PROJECT_NAME}/include 23 | ) 24 | 25 | link_directories( 26 | ${catkin_LIBRARY_DIRS} 27 | ${OpenRAVE_LIBRARY_DIRS} 28 | ) 29 | 30 | find_package(Boost REQUIRED COMPONENTS thread) 31 | include_directories(SYSTEM ${Boost_INCLUDE_DIRS}) 32 | link_directories(${Boost_LIBRARY_DIRS}) 33 | 34 | 35 | catkin_package( 36 | INCLUDE_DIRS include 37 | LIBRARIES 38 | ${PROJECT_NAME} 39 | CATKIN_DEPENDS 40 | geometry_msgs 41 | robotiq_c_model_control 42 | std_msgs 43 | trajectory_msgs 44 | actionlib 45 | actionlib_msgs 46 | control_msgs 47 | DEPENDS 48 | boost 49 | openrave 50 | ) 51 | 52 | include_directories(include/${PROJECT_NAME}) 53 | 54 | 55 | # Helper library that implements core functionality. 56 | add_library(${PROJECT_NAME} SHARED 57 | src/robotiqcontroller.cpp 58 | src/ur5controller.cpp 59 | ) 60 | 61 | # Stub library that registers the plugins with OpenRAVE. 62 | openrave_plugin(${PROJECT_NAME}_plugin 63 | src/ur5controller_interface.cpp 64 | ) 65 | target_link_libraries(${PROJECT_NAME}_plugin 66 | ${PROJECT_NAME} 67 | ${catkin_LIBRARIES} 68 | ) 69 | 70 | install(TARGETS ${PROJECT_NAME} 71 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 72 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 73 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 74 | ) 75 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | UR5 Controller Copyright (C) 2017 Rafael Papallas 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # UR5 Controller for OpenRAVE 2 | 3 |

4 | 5 | 6 | 7 |

8 | 9 | Currently we support different models (we only provide controllers for the UR5 and the two-finger gripper in this project): 10 | - Clearpath Ridgeback + UR5 + Force Torque Sensor 150 + RobotiQ Two Finger Gripper 11 | - Clearpath Ridgeback + UR5 + RobotiQ Two Finger Gripper 12 | - Clearpath Ridgeback + UR5 13 | 14 | This controller will listen to ROS topic that publishes the joint values of the 15 | UR5 robot in real time and will visualise the current state of a UR5 robot in OpenRAVE. 16 | 17 | Another important functionality of this plugin is that is able to execute trajectories 18 | generated by OpenRAVE planners on the real robot. 19 | 20 | There is a test program that demonstrates this functionality under 21 | [`scripts/control_ur5`](scripts/control_ur5.py) in which case will load UR5 in 22 | OpenRAVE and then let you control the UR5 robot above a table (move left, right, 23 | forward, backwards and rotate the gripper clockwise and anti-clockwise). 24 | 25 | ## 1. Developers and Contributors 26 | UR5 OpenRAVE controller was developed by the [Robot Manipulation Lab](https://artificial-intelligence.leeds.ac.uk/robot-manipulation/) in the School of Computing at the University of Leeds. 27 | - Author: [Rafael Papallas](http://rpapallas.com). 28 | - Current maintainor: [Rafael Papallas](http://rpapallas.com). 29 | 30 | ## 2. License 31 | UR5 OpenRAVE controller is licensed under GNU General Public License v3.0. The full license is available [here](https://github.com/roboticsleeds/ur5controller/blob/master/LICENSE). 32 | 33 | ## 3. Includes 34 | This repository includes the following: 35 | - The custom written controller for OpenRAVE and UR5 robot. 36 | - The URDF and SRDF files for UR5 itself, Robotiq Two-Finger Gripper, and 37 | Clearpath Ridgeback moving base. 38 | 39 | ## 4. Installation 40 | 41 | You can either get this controller using a Singularity container or by building the controller as a catkin package on your host machine. The advantage of using a singularity container over building it on your host machine is that you can have a different Ubuntu and ROS version on your host machine and have UR5 Controller within a singularity container that runs Ubuntu 14.04 and ROS Indigo. For example you can have a host machine with Ubuntu 18.04 and run UR5 Controller with the Singularity container. 42 | 43 |
44 | Using Singularity container 45 |
46 | The easiest way to get up and running with this controller is to use our Singularity container. 47 | 48 | 1. Install Singularity on your machine by following [this](https://www.sylabs.io/guides/3.0/user-guide/quick_start.html#quick-installation-steps). 49 | 2. Then, follow the instructions from [here](https://github.com/roboticsleeds/ur5controller_singularity). 50 |
51 | 52 |
53 | Built from source on your own machine 54 |
55 | If you wish to build this control on your host machine, you can find the instructions below. 56 | 57 | #### Dependencies 58 | - [ur_modern_driver](https://github.com/ThomasTimm/ur_modern_driver) needs to be installed on the computer that controls the robot and you need to run `roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=THE_IP_OF_UR5_ROBOT`. 59 | - You need to install the [openrave_catkin](https://github.com/personalrobotics/openrave_catkin). 60 | - You need to install and configure another OpenRAVE plugin called `or_urdf` this plugin is available [here](https://github.com/personalrobotics/or_urdf). I have written a small guide on 61 | how to install this plugin if you struggle to find a solution, find the tutorial [here](https://gist.github.com/rpapallas/171cad0e881769647d0851b8780cc545). 62 | - **(OPTIONAL)** Install the Robotiq controller. 63 | 1. `cd ~/catkin_ws/src` 64 | 2. `git clone git@github.com:ros-industrial/robotiq.git` 65 | 3. `cd robotiq` 66 | 4. `git checkout indigo-devel` 67 | 5. `rosdep install robotiq_modbus_tcp` 68 | 6. `sudo apt-get install ros-indigo-soem` 69 | 7. `cd ~/catkin_ws` 70 | 8. `catkin_make` 71 | 72 | #### Installation 73 | - Go to your catkin worksapce e.g `cd ~/catkin_ws/src` and clone this repository: `git clone git@github.com:roboticsleeds/ur5controller.git` 74 | - Add the following line in your `~/.bashrc` file located under your home 75 | directory by running the following command in the terminal: `echo 76 | 'export OPENRAVE_PLUGINS=$OPENRAVE_PLUGINS:~/catkin_ws/devel/share/openrave-0.9/plugins' >> ~/.bashrc` 77 | - Run `source ~/.bashrc`. 78 | - Go to your catkin workspace `cd ~/catkin_ws` and run `catkin_make`. You should 79 | see a successful message on build in which case you are ready to go. If you get 80 | any errors at this stage, please review what went wrong. 81 | - Add in your `.bashrc` the Python path to the UR5 class by running 82 | ```bash 83 | echo 'export PYTHONPATH=$PYTHONPATH:~/catkin_ws/src/ur5controller/pythonsrc/ur5_robot' >> ~/.bashrc` 84 | ``` 85 | This will let Python know where the Python classes for 86 | creating UR5 robot instances in OpenRAVE are. 87 |
88 | 89 | ## 5. Testing the controller 90 | There is a file called `control_ur5.py` under `scripts` that you can run and 91 | test the controller on the real robot. 92 | 93 | With the Python class in place, creating a UR5 robot in OpenRAVE is super easy: 94 | 95 |
96 | Show code 97 |
98 | 99 | ```python 100 | import IPython 101 | from ur5_factory import UR5_Factory 102 | ur5_factory = UR5_Factory() 103 | 104 | # If you want to specify all the configuration settings (is_simulation, has_ridgeback etc) 105 | env, robot = ur5_factory.create_ur5_and_env(is_simulation=True, 106 | has_ridgeback=True, 107 | gripper_name="robotiq_two_finger", 108 | has_force_torque_sensor=True, 109 | env_path="test_env.xml", 110 | viewer_name="qtcoin", 111 | urdf_path="package://ur5controller/ur5_description/urdf/", 112 | srdf_path="package://ur5controller/ur5_description/srdf/") 113 | 114 | # The above is equivalent to the following (the `create_ur5_and_env` has set to defaults the values used above): 115 | env, robot = ur5_factory.create_ur5_and_env() 116 | IPython.embed() 117 | ``` 118 | 119 | If you would like to use the model with no gripper, then you need to pass `None` to the `gripper_name` argument. 120 |
121 | 122 | ## 6. Controller explained 123 | 1. Load the robot in OpenRAVE using the URDF plugin: 124 | 125 |
126 | Show code 127 |
128 | 129 | ```python 130 | import IPython 131 | 132 | env = Environment() 133 | env.Load('test_env.xml') 134 | env.SetViewer('qtcoin') 135 | 136 | urdf_path = "package://ur5controller/ur5_description/ur5.urdf" 137 | srdf_path = "package://ur5controller/ur5_description/ur5.srdf" 138 | 139 | module = RaveCreateModule(env, 'urdf') 140 | with env: 141 | name = module.SendCommand('LoadURI {} {}'.format(urdf_path, srdf_path)) 142 | robot = env.GetRobot(name) 143 | 144 | env.Add(robot, True) 145 | ``` 146 | 147 |
148 | 149 | 2. You now need to attach the controllers (UR5 and the Robotiq controllers) to 150 | the robot using the `MultiController`. 151 | 152 |
153 | Show code 154 |
155 | 156 | ```python 157 | multicontroller = RaveCreateMultiController(env, "") 158 | robot.SetController(multicontroller) 159 | 160 | robot_controller = RaveCreateController(env,'ur5controller') 161 | hand_controller = RaveCreateController(env, 'robotiqcontroller') 162 | 163 | multicontroller.AttachController(robot_controller, [2, 1, 0, 4, 5, 6], 0) 164 | multicontroller.AttachController(hand_controller, [3], 0) 165 | 166 | IPython.embed() 167 | ``` 168 | 169 | You are now set. The OpenRAVE robot should update as you change the configuration 170 | of the actual robot, and should also execute trajectories from OpenRAVE to 171 | the actual robot. 172 |
173 | 174 | ## 7. Other Notes 175 |
176 | Checking ROS topics for attaching controllers 177 |
178 | 179 | This package will check (in ur5_factory.py) if certain topics are being published 180 | (i.e `CModelRobotInput` and `CModelRobotOutput`) if you chose a gripper name 181 | equal to "robotiq_two_finger_" and will not attach the corresponding controller 182 | if those topics are not being published. This is a defensive mechanism to avoid 183 | `IsDone()` method of the end-effector gripper returning false and blocking the 184 | program execution. For more discussion, see [here](https://stackoverflow.com/questions/49552755/openrave-controllerbase-is-blocking-at-the-isdone-method-and-never-returns/49552756#49552756) 185 | 186 |
187 | 188 | ## 8. Troubleshooting 189 |
190 | RuntimeError: maximum recursion depth exceeded while calling a Python object 191 |
192 | 193 | If you get this error while the IK are being generated, then you probably have a version of sympy > 0.7.1. Downgrade your sympy version to 0.7.1: 194 | 195 | ``` 196 | pip install --upgrade sympy==0.7.1 197 | ``` 198 | 199 | This should fix this issue. 200 |
201 | 202 |
203 | TypeError: argument of type 'Poly' is not iterable 204 |
205 | 206 | If you get this error while the IK are being generated, then you probably have a version of sympy > 0.7.1. Downgrade your sympy version to 0.7.1: 207 | 208 | ``` 209 | pip install --upgrade sympy==0.7.1 210 | ``` 211 | 212 | This should fix this issue. 213 |
214 | 215 |
216 | Executing the trajectory on the real robot causes unintended actions 217 |
218 | 219 | **Issue:** While OpenRAVE generates a trajectory that is smooth and valid in simulation during real execution the robot is strangely executing the trajectory. 220 | 221 | **Possible solution:** We came across this issue and the problem is probably down to the UR modern driver. When UR modern driver is installed using `apt-get` the problem appeared. The solution was to install UR modern driver as a catkin package (make sure to checkout the branch `kinetic-devel` although is kinetic is also working with indigo). 222 | 223 |
224 | -------------------------------------------------------------------------------- /include/ur5controller/plugindefs.h: -------------------------------------------------------------------------------- 1 | // -*- coding: utf-8 --* 2 | // Copyright (C) 2006-2011 Rosen Diankov 3 | // 4 | // This file is part of OpenRAVE. 5 | // OpenRAVE is free software: you can redistribute it and/or modify 6 | // it under the terms of the GNU Lesser General Public License as published by 7 | // the Free Software Foundation, either version 3 of the License, or 8 | // at your option) any later version. 9 | // 10 | // This program is distributed in the hope that it will be useful, 11 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | // GNU Lesser General Public License for more details. 14 | // 15 | // You should have received a copy of the GNU Lesser General Public License 16 | // along with this program. If not, see . 17 | #ifndef OPENRAVE_PLUGINDEFS_H 18 | #define OPENRAVE_PLUGINDEFS_H 19 | 20 | #include // should be included first in order to get boost throwing openrave exceptions 21 | #include 22 | 23 | // include boost for vc++ only (to get typeof working) 24 | #ifdef _MSC_VER 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | 31 | #define FOREACH(it, v) for(BOOST_TYPEOF(v) ::iterator it = (v).begin(); it != (v).end(); (it)++) 32 | #define FOREACH_NOINC(it, v) for(BOOST_TYPEOF(v) ::iterator it = (v).begin(); it != (v).end(); ) 33 | 34 | #define FOREACHC(it, v) for(BOOST_TYPEOF(v) ::const_iterator it = (v).begin(); it != (v).end(); (it)++) 35 | #define FOREACHC_NOINC(it, v) for(BOOST_TYPEOF(v) ::const_iterator it = (v).begin(); it != (v).end(); ) 36 | #define RAVE_REGISTER_BOOST 37 | #else 38 | 39 | #include 40 | #include 41 | #include 42 | #include 43 | #include 44 | 45 | #define FOREACH(it, v) for(typeof((v).begin())it = (v).begin(); it != (v).end(); (it)++) 46 | #define FOREACH_NOINC(it, v) for(typeof((v).begin())it = (v).begin(); it != (v).end(); ) 47 | 48 | #define FOREACHC FOREACH 49 | #define FOREACHC_NOINC FOREACH_NOINC 50 | 51 | #endif 52 | 53 | #define FORIT(it, v) for(it = (v).begin(); it != (v).end(); (it)++) 54 | 55 | #include 56 | #include 57 | #include 58 | 59 | using namespace std; 60 | using namespace OpenRAVE; 61 | 62 | static const dReal g_fEpsilonJointLimit = RavePow(g_fEpsilon,0.8); 63 | 64 | inline dReal TransformDistanceFast(const Transform& t1, const Transform& t2, dReal frotweight=1, dReal ftransweight=1) 65 | { 66 | dReal e1 = (t1.rot-t2.rot).lengthsqr4(); 67 | dReal e2 = (t1.rot+t2.rot).lengthsqr4(); 68 | dReal e = e1 < e2 ? e1 : e2; 69 | return RaveSqrt((t1.trans-t2.trans).lengthsqr3() + frotweight*e); 70 | } 71 | 72 | #endif 73 | -------------------------------------------------------------------------------- /manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | OpenRAVE Controller Plugin for UR5 Robot. 4 | 5 | Rafael Papallas (sc13rp@leeds.ac.uk), Dr Mehmet Dogar (m.r.dogar@leeds.ac.uk) 6 | GNU General Public License v3 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur5controller 4 | 1.0.0 5 | 6 | OpenRAVE Controller for UR5 Robot. 7 | 8 | https://github.com/papallas/ur5controller 9 | https://github.com/papallas/ur5controller.git 10 | https://github.com/papallas/ur5controller/issues 11 | Rafael Papallas 12 | Rafael Papallas 13 | Dr. Mehmet Dogar 14 | GPLv3 15 | catkin 16 | openrave_catkin 17 | boost 18 | geometry_msgs 19 | std_msgs 20 | roscpp 21 | trajectory_msgs 22 | robotiq_c_model_control 23 | tf 24 | actionlib 25 | actionlib_msgs 26 | control_msgs 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /pythonsrc/ur5_robot/__init__.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | 4 | # All names in these files which contain main classes are usable directly. 5 | from .ur5_robot import * 6 | -------------------------------------------------------------------------------- /pythonsrc/ur5_robot/ur5_factory.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (C) 2018 The University of Leeds. 4 | # 5 | # This program is free software: you can redistribute it and/or modify 6 | # it under the terms of the GNU General Public License as published by 7 | # the Free Software Foundation, either version 3 of the License, or 8 | # (at your option) any later version. 9 | # 10 | # This program is distributed in the hope that it will be useful, 11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | # GNU General Public License for more details. 14 | # 15 | # You should have received a copy of the GNU General Public License 16 | # along with this program. If not, see . 17 | 18 | """ 19 | Include a factory class to generate UR5 instances. 20 | 21 | UR5 instances can be generated with different configuration. For example 22 | the robot may have a ClearPath ridgeback, a two finger gripper etc where 23 | in another setup the UR5 could not have the ridgeback, and could have 24 | a three finger gripper instead. 25 | 26 | This file define a class that let you create different robot configurations 27 | on the fly. 28 | """ 29 | 30 | __author__ = "Rafael Papallas" 31 | __authors__ = ["Rafael Papallas"] 32 | __copyright__ = "Copyright (C) 2018, The University of Leeds" 33 | __credits__ = ["Rafael Papallas", "Dr. Mehmet Dogar"] 34 | __email__ = "Rafael: r.papallas@leeds.ac.uk | Mehmet: m.r.dogar@leeds.ac.uk" 35 | __license__ = "GPLv3" 36 | __maintainer__ = "Rafael Papallas" 37 | __status__ = "Production" 38 | __version__ = "0.0.1" 39 | 40 | import rospy 41 | from openravepy import Environment 42 | from openravepy import RaveCreateIkSolver 43 | from openravepy import RaveCreateModule 44 | from openravepy import RaveInitialize 45 | from openravepy import RaveLogInfo 46 | from openravepy import RaveLogWarn 47 | from ur5_robot import UR5_Robot 48 | 49 | 50 | class UR5_Factory(object): 51 | """ 52 | Class for generating UR5 robot configurations and environments. 53 | 54 | This class builds a UR5 robot by loading it from URDF files and 55 | also adds some other implementation details that are required. This 56 | class should be used to create UR5 instances in your OpenRAVE 57 | programs. 58 | """ 59 | 60 | def __init__(self): 61 | """Initialise the UR5_Factory. 62 | 63 | Initialise the class by defining available grippers and 64 | viewers. 65 | """ 66 | # TODO: Add support for robotiq_three_finger 67 | self._available_grippers = ["robotiq_two_finger"] 68 | 69 | def create_ur5_and_env( 70 | self, 71 | is_simulation=True, 72 | has_ridgeback=True, 73 | gripper_name="robotiq_two_finger", 74 | has_force_torque_sensor=True, 75 | env_path=None, 76 | viewer_name="qtcoin", 77 | urdf_path="package://ur5controller/ur5_description/urdf/", 78 | srdf_path="package://ur5controller/ur5_description/srdf/", 79 | ): 80 | """ 81 | Create a UR5 and Environment instance. 82 | 83 | This method given some specifications as arguments, will build 84 | a UR5 robot instance accordingly. 85 | 86 | Args: 87 | is_simulation: Indicates whether the robot is in simulation 88 | or not. 89 | has_ridgeback: Indicates whether the returned robot model 90 | has a ClearPath Ridgeback moving base 91 | integrated with it. 92 | gripper_name: The gripper name to be used in the robot model 93 | among a list of available grippers. If None, no 94 | gripper will be attached. 95 | has_force_torque_sensor: Indicates whether the robot model 96 | will have a Robotiq Force Torque s 97 | ensor attached to it. 98 | env_path: The environment XML file to load from. 99 | viewer_name: The viewer name (e.g qtcoin, rviz etc) among 100 | a list of available names. 101 | urdf_path: The path of the URDF files if you moved the URDFs 102 | to another location, if you haven't, then leave this 103 | to default. 104 | srdf_path: The path of the SRDF files if you moved the SRDFs 105 | to another location, if you haven't, then leave this 106 | to default. 107 | 108 | Returns: 109 | An openravepy.Environment and openravepy.Robot instances. 110 | 111 | Raises: 112 | ValueError: If gripper_name is invalid invalid. 113 | """ 114 | has_gripper = False if gripper_name is None else True 115 | 116 | if has_gripper: 117 | if gripper_name not in self._available_grippers: 118 | raise ValueError( 119 | "Gripper {} is not supported. The only " 120 | "available gripper names are: " 121 | "{}".format(gripper_name, ", ".join(self._available_grippers)) 122 | ) 123 | 124 | # TODO: Create URDFs that do not include the ridgeback. 125 | if not has_ridgeback: 126 | raise NotImplementedError( 127 | "Robot configuration without ridgeback " 128 | "is not yet available. Robot configuration " 129 | "without the Clearpath Ridgeback is under " 130 | "development at the moment (please check " 131 | "that you also have the latest version " 132 | "of this code)." 133 | ) 134 | 135 | RaveInitialize(True) 136 | self.env = self._create_environment(env_path) 137 | self.robot = self._load_ur5_from_urdf( 138 | gripper_name, has_ridgeback, has_force_torque_sensor, urdf_path, srdf_path 139 | ) 140 | 141 | if not self._a_ros_topic_exist_with_the_name("joint_states"): 142 | is_simulation = True 143 | 144 | # Add class UR5_Robot to the robot. 145 | self.robot.__class__ = UR5_Robot 146 | self.robot.__init__(is_simulation, has_gripper) 147 | 148 | # Attach controllers 149 | if not is_simulation: 150 | self._attach_robot_controller() 151 | 152 | if has_gripper: 153 | self._attach_gripper_controller(gripper_name) 154 | 155 | # Required for or_rviz to work with the robot's interactive marker. 156 | self._set_ik_solver() 157 | 158 | self._set_viewer(viewer_name) 159 | 160 | return self.env, self.robot 161 | 162 | def _set_ik_solver(self): 163 | ik_solver = RaveCreateIkSolver(self.env, self.robot.ikmodel.getikname()) 164 | self.robot.manipulator.SetIkSolver(ik_solver) 165 | 166 | def _attach_gripper_controller(self, gripper_name): 167 | if gripper_name == "robotiq_two_finger": 168 | controller_name = "robotiqcontroller" 169 | 170 | if self._a_ros_topic_exist_with_the_name("CModelRobotInput"): 171 | self.robot.attach_controller(name=controller_name, dof_indices=[3]) 172 | RaveLogInfo("robotiq_two_finger controller attached successfully.") 173 | else: 174 | RaveLogWarn( 175 | "End-effector controller not attached, " 176 | "topics ('CModelRobotInput' or/and " 177 | "'CModelRobotOutput') are not available." 178 | ) 179 | 180 | def _attach_robot_controller(self): 181 | # This is a defensive mechanism to avoid IsDone() method of the 182 | # end-effector controller block the program execution. For further 183 | # discussion, see this thread: https://stackoverflow.com/questions/49552755/openrave-controllerbase-is-blocking-at-the-isdone-method-and-never-returns/49552756#49552756 184 | if self._a_ros_topic_exist_with_the_name("joint_states"): 185 | self.robot.attach_controller( 186 | name="ur5controller", dof_indices=[2, 1, 0, 4, 5, 6] 187 | ) 188 | RaveLogInfo("UR5 controller attached successfully.") 189 | else: 190 | RaveLogWarn( 191 | "UR5 Controller not attached to robot. Required " 192 | "topics not being published, rolling back to " 193 | "simulation." 194 | ) 195 | 196 | def _a_ros_topic_exist_with_the_name(self, topic_name): 197 | # The ROS topic name always start with '/' character. 198 | if topic_name[0] != "/": 199 | topic_name = "/" + topic_name 200 | 201 | # List of all published ROS topics 202 | topics = rospy.get_published_topics() 203 | 204 | for topic in topics: 205 | if topic[0] == topic_name: 206 | return True 207 | 208 | return False 209 | 210 | def _get_file_name_from_specification( 211 | self, gripper_name, has_ridgeback, has_force_torque_sensor 212 | ): 213 | """ 214 | Return the correct URDF file given some configuration specification. 215 | 216 | Different robot configurations (with ridgeback and two-finger gripper 217 | or without ridgeback and with three-finger gripper) exists with 218 | different URDF and SRDF files. Hence this method given some 219 | specifications will return the appropriate URDF file from the 220 | package. 221 | 222 | Args: 223 | gripper_name: The gripper name to be loaded. 224 | has_ridgeback: Whether ClearPath Ridgeback will be loaded with 225 | the robot model. 226 | has_force_torque_sensor: Whether Robotiq force torque sensor 227 | will be loaded with the robot model. 228 | 229 | Returns: 230 | A file name to a URDF/SRDF file matching the configuration 231 | specified by the arguments. 232 | """ 233 | if ( 234 | gripper_name == "robotiq_two_finger" 235 | and has_ridgeback 236 | and has_force_torque_sensor 237 | ): 238 | return ( 239 | "clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150" 240 | ) 241 | if gripper_name is None and has_ridgeback: 242 | return "clearpath_ridgeback__ur5" 243 | if ( 244 | gripper_name == "robotiq_two_finger" 245 | and has_ridgeback 246 | and not has_force_torque_sensor 247 | ): 248 | return "clearpath_ridgeback__ur5__robotiq_two_finger_gripper" 249 | if ( 250 | gripper_name == "robotiq_three_finger" 251 | and has_ridgeback 252 | and has_force_torque_sensor 253 | ): 254 | return ( 255 | "clearpath_ridgeback__ur5__robotiq_three_finger_gripper__robotiq_fts150" 256 | ) 257 | if ( 258 | gripper_name == "robotiq_three_finger" 259 | and has_ridgeback 260 | and not has_force_torque_sensor 261 | ): 262 | return "clearpath_ridgeback__ur5__robotiq_three_finger_gripper" 263 | 264 | def _load_ur5_from_urdf( 265 | self, gripper_name, has_ridgeback, has_force_torque_sensor, urdf_path, srdf_path 266 | ): 267 | """ 268 | Load a UR5 robot model from URDF to the environment. 269 | 270 | Given the appropriate configuration and valid path to URDF 271 | and SRDF files, will load UR5 in OpenRAVE environment and will 272 | return a robot instance back. 273 | 274 | Args: 275 | gripper_name: The gripper name to be loaded. 276 | has_ridgeback: Whether ClearPath Ridgeback will be loaded with 277 | the robot model. 278 | has_force_torque_sensor: Whether Robotiq force torque sensor 279 | will be loaded with the robot model. 280 | urdf_path: The path of the URDF files. 281 | srdf_path: The path of the SRDF files. 282 | 283 | Returns: 284 | A UR5 openravepy.Robot instance. 285 | 286 | Raises: 287 | Exception: If or_urdf module cannot be loaded, or something 288 | went wrong while trying to load robot from a URDF file, 289 | or the robot couldn't be loaded from file. 290 | """ 291 | 292 | file_name = self._get_file_name_from_specification( 293 | gripper_name, has_ridgeback, has_force_torque_sensor 294 | ) 295 | 296 | urdf_path = urdf_path + "{}.urdf".format(file_name) 297 | srdf_path = srdf_path + "{}.srdf".format(file_name) 298 | 299 | urdf_module = RaveCreateModule(self.env, "urdf") 300 | 301 | if urdf_module is None: 302 | raise Exception( 303 | "Unable to load or_urdf module. Make sure you " 304 | "have or_urdf installed in your Catkin " 305 | "check: " 306 | "https://github.com/personalrobotics/or_urdf" 307 | ) 308 | 309 | ur5_name = urdf_module.SendCommand("LoadURI {} {}".format(urdf_path, srdf_path)) 310 | if ur5_name is None: 311 | raise Exception( 312 | "Something went wrong while trying to load " 313 | "UR5 from file. Is the path correct?" 314 | ) 315 | 316 | robot = self.env.GetRobot(ur5_name) 317 | 318 | if robot is None: 319 | raise Exception("Unable to find robot with " "name '{}'.".format(ur5_name)) 320 | 321 | return robot 322 | 323 | def _create_environment(self, env_path): 324 | """ 325 | Create an Environment instance and load an XML environment to it. 326 | 327 | Will create an openravepy.Environment instance and will try to 328 | load an XML environment specification from file. 329 | 330 | Args: 331 | env_path: An XML file to load an environment. 332 | 333 | Returns: 334 | The openravepy.Environment instance. 335 | 336 | Raises: 337 | ValueError: If unable to load environment from file. 338 | """ 339 | env = Environment() 340 | 341 | if env_path is not None: 342 | if not env.Load(env_path): 343 | raise ValueError( 344 | "Unable to load environment " "file: '{}'".format(env_path) 345 | ) 346 | 347 | return env 348 | 349 | def _set_viewer(self, viewer_name): 350 | """ 351 | Set the viewer using the user-specified viewer_name. 352 | 353 | Args: 354 | viewer_name: The name of viewer to be set. 355 | 356 | Raises: 357 | Exception: If there was a problem setting the viewer. 358 | """ 359 | self.env.SetViewer(viewer_name) 360 | if self.env.GetViewer() is None: 361 | raise Exception( 362 | "There was something wrong when loading " 363 | "the {} viewer.".format(viewer_name) 364 | ) 365 | -------------------------------------------------------------------------------- /pythonsrc/ur5_robot/ur5_robot.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (C) 2018 The University of Leeds 4 | # 5 | # This program is free software: you can redistribute it and/or modify 6 | # it under the terms of the GNU General Public License as published by 7 | # the Free Software Foundation, either version 3 of the License, or 8 | # (at your option) any later version. 9 | # 10 | # This program is distributed in the hope that it will be useful, 11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | # GNU General Public License for more details. 14 | # 15 | # You should have received a copy of the GNU General Public License 16 | # along with this program. If not, see . 17 | # 18 | # Author: Rafael Papallas (rpapallas.com) 19 | 20 | """Extends OpenRAVE Robot 21 | 22 | This class is an extension of OpenRAVE's Robot to include some handy functions. 23 | """ 24 | 25 | __author__ = "Rafael Papallas" 26 | __authors__ = ["Rafael Papallas"] 27 | __copyright__ = "Copyright (C) 2018, The University of Leeds" 28 | __credits__ = ["Rafael Papallas", "Dr. Mehmet Dogar"] 29 | __email__ = "Rafael: r.papallas@leeds.ac.uk | Mehmet: m.r.dogar@leeds.ac.uk" 30 | __license__ = "GPLv3" 31 | __maintainer__ = "Rafael Papallas" 32 | __status__ = "Production" 33 | __version__ = "0.0.1" 34 | 35 | from openravepy import databases 36 | from openravepy import IkParameterization 37 | from openravepy import interfaces 38 | from openravepy import RaveCreateController 39 | from openravepy import RaveCreateMultiController 40 | from openravepy import RaveLogInfo 41 | from openravepy import Robot 42 | import time 43 | 44 | 45 | class UR5_Robot(Robot): 46 | def __init__(self, is_in_simulation, has_gripper): 47 | self.robot_name = "UR5" 48 | self._OPENRAVE_GRIPPER_MAX_VALUE = 0.715584844 49 | self._ROBOT_GRIPPER_MAX_VALUE = 255 50 | self.is_in_simulation = is_in_simulation 51 | self._has_gripper = has_gripper 52 | 53 | if not self.is_in_simulation: 54 | self.multicontroller = RaveCreateMultiController(self.GetEnv(), "") 55 | self.SetController(self.multicontroller) 56 | 57 | self.manipulator = self.SetActiveManipulator(self.GetManipulators()[0]) 58 | 59 | if self._has_gripper: 60 | # Needed for "find a grasp" function (not parsed using or_urdf hence 61 | # needs manual setting) 62 | self.manipulator.SetChuckingDirection([1.0]) 63 | self.manipulator.SetLocalToolDirection([1.0, 0, 0]) 64 | 65 | self.ikmodel = databases.inversekinematics.InverseKinematicsModel( 66 | self, iktype=IkParameterization.Type.Transform6D 67 | ) 68 | 69 | if not self.ikmodel.load(): 70 | RaveLogInfo( 71 | "The IKModel for UR5 robot is now being generated. " 72 | "Please be patient, this will take a while " 73 | "(sometimes up to 30 minutes)..." 74 | ) 75 | 76 | self.ikmodel.autogenerate() 77 | 78 | self.task_manipulation = interfaces.TaskManipulation(self) 79 | self.base_manipulation = interfaces.BaseManipulation(self) 80 | 81 | @property 82 | def end_effector_transform(self): 83 | """End-Effector's current transform property.""" 84 | return self.manipulator.GetTransform() 85 | 86 | def is_gripper_fully_open(self): 87 | if not self._has_gripper: 88 | raise Exception( 89 | "You are trying to use a gripper function while a gripper is not available on your UR5 robot." 90 | ) 91 | 92 | return self.GetDOFValues()[3] == 0 93 | 94 | def is_gripper_fully_closed(self): 95 | if not self._has_gripper: 96 | raise Exception( 97 | "You are trying to use a gripper function while a gripper is not available on your UR5 robot." 98 | ) 99 | 100 | return abs(self.GetDOFValues()[3] - self._OPENRAVE_GRIPPER_MAX_VALUE) <= 0.00001 101 | 102 | def attach_controller(self, name, dof_indices): 103 | controller = RaveCreateController(self.GetEnv(), name) 104 | 105 | if controller is not None: 106 | # Attaching the multicontroller now since we know that a 107 | # valid controller has been created. If multicontroller is 108 | # set to the robot with no controller attached to the 109 | # multicontroller, then OpenRAVE will fail to execute any 110 | # trajectories in simulation, setting the multicontroller now 111 | # ensures that this won't happen. 112 | self.multicontroller.AttachController(controller, dof_indices, 0) 113 | return True 114 | 115 | return False 116 | 117 | def set_gripper_openning(self, value): 118 | """ 119 | Opens/Closes the gripper by a desired value. 120 | 121 | Args: 122 | value: Opens/Closes the finger. 123 | 124 | Raises: 125 | ValueError: If the value is out of bounds [0, 255]. 126 | 127 | """ 128 | if not self._has_gripper: 129 | raise Exception( 130 | "You are trying to use a gripper function while a gripper is not available on your UR5 robot." 131 | ) 132 | 133 | if value < 0 or value > 255: 134 | raise ValueError("Gripper value should be between 0 and 255.") 135 | 136 | # This conversion is required because SetDesired() controller 137 | # requires the value to be in terms of a value between 0 and 138 | # 0.87266444 (OpenRAVE model limit values) and then is converting 139 | # it to a value between 0-255 for the low-level gripper driver. 140 | # To make this method more user-friendly, the value is expected 141 | # to be between 0 and 255, then we map it down to 0 to 0.87266444 142 | # and send it to the gripper controller. 143 | model_value = ( 144 | self._OPENRAVE_GRIPPER_MAX_VALUE 145 | / self._ROBOT_GRIPPER_MAX_VALUE 146 | * abs(value) 147 | ) 148 | dof_values = self.GetDOFValues() 149 | dof_values[3] = model_value 150 | 151 | self.GetController().SetDesired(dof_values) 152 | self.WaitForController(0) 153 | time.sleep(2) 154 | 155 | def _set_dof_value(self, index, value): 156 | dof_values = self.GetDOFValues() 157 | dof_values[index] = value 158 | self.SetDOFValues(dof_values) 159 | 160 | def open_gripper(self, kinbody=None, execute=True): 161 | """ 162 | Opens end-effector's fingers. 163 | 164 | OpenRAVE Kinbodies can be attached to the end-effector, if you want 165 | to release an attached kinbody after the fingers are opened, then pass 166 | that kinbody in this function. 167 | 168 | Args: 169 | kinbody: Pass an OpenRAVE Kinbody to release after the fingers are 170 | opened. 171 | execute: By default is set to True. Pass False if you want to avoid 172 | execution. 173 | """ 174 | if not self._has_gripper: 175 | raise Exception( 176 | "You are trying to use a gripper function while a gripper is not available on your UR5 robot." 177 | ) 178 | 179 | if not execute: 180 | self._set_dof_value(3, 0.0) 181 | if kinbody is not None: 182 | self.Release(kinbody) 183 | 184 | return 185 | 186 | if self.is_in_simulation: 187 | self.task_manipulation.ReleaseFingers(target=kinbody) 188 | self.WaitForController(0) 189 | else: 190 | self.set_gripper_openning(0) 191 | if kinbody is not None: 192 | self.Release(kinbody) 193 | 194 | def close_gripper(self, execute=True): 195 | """ 196 | Closes end-effector's fingers. 197 | 198 | Args: 199 | execute: By default is set to True. Pass False if you want to avoid 200 | execution. 201 | """ 202 | 203 | if not self._has_gripper: 204 | raise Exception( 205 | "You are trying to use a gripper function while a gripper is not available on your UR5 robot." 206 | ) 207 | 208 | if not execute: 209 | self._set_dof_value(3, self._OPENRAVE_GRIPPER_MAX_VALUE) 210 | return 211 | 212 | if self.is_in_simulation: 213 | self.task_manipulation.CloseFingers() 214 | self.WaitForController(0) 215 | else: 216 | self.set_gripper_openning(255) 217 | 218 | def execute_trajectory_and_wait_for_controller(self, trajectory): 219 | """ 220 | Executes a trajectory and waits for the controller to finish. 221 | 222 | Args: 223 | trajectory: An OpenRAVE trajectory to execute. 224 | """ 225 | self.GetController().SetPath(trajectory) 226 | self.WaitForController(0) 227 | time.sleep(2) 228 | -------------------------------------------------------------------------------- /repo_assets/ridgeback_ur5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/repo_assets/ridgeback_ur5.png -------------------------------------------------------------------------------- /repo_assets/ridgeback_ur5_fts150_gripper.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/repo_assets/ridgeback_ur5_fts150_gripper.png -------------------------------------------------------------------------------- /repo_assets/ridgeback_ur5_gripper.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/repo_assets/ridgeback_ur5_gripper.png -------------------------------------------------------------------------------- /repo_assets/ur5_example.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/repo_assets/ur5_example.png -------------------------------------------------------------------------------- /scripts/control_ur5.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (C) 2017 The University of Leeds 4 | # 5 | # This program is free software: you can redistribute it and/or modify 6 | # it under the terms of the GNU General Public License as published by 7 | # the Free Software Foundation, either version 3 of the License, or 8 | # (at your option) any later version. 9 | # 10 | # This program is distributed in the hope that it will be useful, 11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | # GNU General Public License for more details. 14 | # 15 | # You should have received a copy of the GNU General Public License 16 | # along with this program. If not, see . 17 | 18 | import IPython 19 | import numpy 20 | from openravepy import IkFilterOptions 21 | from openravepy import matrixFromAxisAngle 22 | from openravepy import PlanningError 23 | from ur5_factory import UR5_Factory 24 | 25 | __author__ = "Rafael Papallas" 26 | __authors__ = ["Rafael Papallas"] 27 | __copyright__ = "Copyright (C) 2018, The University of Leeds" 28 | __credits__ = ["Rafael Papallas", "Dr. Mehmet Dogar"] 29 | __email__ = "Rafael: r.papallas@leeds.ac.uk | Mehmet: m.r.dogar@leeds.ac.uk" 30 | __license__ = "GPLv3" 31 | __maintainer__ = "Rafael Papallas" 32 | __status__ = "Production" 33 | __version__ = "0.0.1" 34 | 35 | 36 | class Demo: 37 | def __init__(self): 38 | ur5_factory = UR5_Factory() 39 | 40 | # The create_ur5_and_env() method takes also the following optional 41 | # arguments: is_simulation, has_ridgeback, gripper_name, 42 | # has_force_torque_sensor, env_path, viewer_name, urdf_path, and 43 | # srdf_path. See ur5_factory.py class for more details. 44 | self.env, self.robot = ur5_factory.create_ur5_and_env(env_path="test_env.xml", 45 | has_force_torque_sensor=False, 46 | is_simulation=False) 47 | 48 | self.move_robot_to_start_transform() 49 | 50 | def move_robot_to_start_transform(self): 51 | # Move manipulator to the start transform (just above the table 52 | # surface) 53 | start_transform = numpy.eye(4) 54 | start_transform[0, 3] = 0.80917 55 | start_transform[1, 3] = 0.05212 56 | start_transform[2, 3] = 0.81 57 | 58 | ik_solution = self.robot.manipulator.FindIKSolution(start_transform, IkFilterOptions.CheckEnvCollisions) 59 | 60 | self.robot.base_manipulation.MoveManipulator(goal=ik_solution) 61 | 62 | def is_trajectory_safe(self, trajectory_object): 63 | waypoints = trajectory_object.GetAllWaypoints2D() 64 | waypoint_sums = [0, 0, 0, 0, 0, 0] 65 | for i in range(0, len(waypoints) - 1): 66 | for j in range(0, 6): 67 | difference = abs(waypoints[i][j] - waypoints[i+1][j]) 68 | waypoint_sums[j] += difference 69 | 70 | waypoint_below_threshold = [x < numpy.pi/3 for x in waypoint_sums] 71 | return all(waypoint_below_threshold) 72 | 73 | def rotate_hand(self, rotation_matrix): 74 | current_hand_transform = self.robot.end_effector_transform 75 | goal_transform = numpy.dot(current_hand_transform, rotation_matrix) 76 | ik_solution = self.robot.manipulator.FindIKSolution(goal_transform, IkFilterOptions.CheckEnvCollisions) 77 | 78 | if ik_solution is not None: 79 | try: 80 | trajectory_object = self.robot.base_manipulation.MoveManipulator(goal=ik_solution, execute=False, outputtrajobj=True) 81 | except PlanningError, e: 82 | print "There was a planning error" 83 | print e 84 | 85 | if trajectory_object and self.is_trajectory_safe(trajectory_object): 86 | self.execute_trajectory_object(trajectory_object) 87 | else: 88 | print "The trajectory failed the safety check." 89 | else: 90 | print "No IK Solution found." 91 | 92 | def move_hand(self, x_offset, y_offset): 93 | current_hand_transform = self.robot.end_effector_transform 94 | current_hand_transform[0, 3] += x_offset 95 | current_hand_transform[1, 3] += y_offset 96 | 97 | ik_solution = self.robot.manipulator.FindIKSolution(current_hand_transform, IkFilterOptions.CheckEnvCollisions) 98 | 99 | if ik_solution is not None: 100 | try: 101 | trajectory_object = self.robot.base_manipulation.MoveManipulator(goal=ik_solution, execute=False, outputtrajobj=True) 102 | except PlanningError, e: 103 | print "There was a planning error" 104 | print e 105 | 106 | if trajectory_object and self.is_trajectory_safe(trajectory_object): 107 | self.robot.execute_trajectory_and_wait_for_controller(trajectory_object) 108 | else: 109 | print "The trajectory failed the safety check." 110 | else: 111 | print "No IK Solution found." 112 | 113 | def control_robot_with_the_keyboard(self): 114 | OFFSET = 0.07 115 | 116 | print "" 117 | print "w: Move arm forward." 118 | print "s: Move arm backwards." 119 | print "a: Move arm left." 120 | print "d: Move arm right." 121 | print "q: Rotate end-effector anticlockwise." 122 | print "e: Rotate end-effector clockwise." 123 | print "o: Open end-effector." 124 | print "c: Close end-effector." 125 | print "" 126 | print "Type 'exit' to stop the demo and enter in IPython environment." 127 | 128 | while True: 129 | action = raw_input("Menu Action: ") 130 | 131 | if action == "exit": # EXIT Demo 132 | break 133 | if action == "q": # Rotate Anti-clockwise 134 | anticlockwise = matrixFromAxisAngle([0, 0, numpy.pi/6]) 135 | self.rotate_hand(anticlockwise) 136 | elif action == "e": # Rotate Clockwise 137 | clockwise = matrixFromAxisAngle([0, 0, -numpy.pi/6]) 138 | self.rotate_hand(clockwise) 139 | elif action == "o": # Open Gripper 140 | self.robot.open_gripper() 141 | elif action == "c": # Close Gripper 142 | self.robot.close_gripper() 143 | elif action in ["w", "s", "a", "d"]: 144 | x_offset = 0 145 | y_offset = 0 146 | 147 | if action == "w": x_offset = OFFSET # Move Forward 148 | if action == "s": x_offset = -OFFSET # Move Backwards 149 | if action == "a": y_offset = -OFFSET # Move Left 150 | if action == "d": y_offset = OFFSET # Move Right 151 | 152 | self.move_hand(x_offset, y_offset) 153 | 154 | 155 | if __name__ == "__main__": 156 | demo = Demo() 157 | demo.control_robot_with_the_keyboard() 158 | 159 | IPython.embed() 160 | -------------------------------------------------------------------------------- /scripts/simple_ur5.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (C) 2017 The University of Leeds 4 | # 5 | # This program is free software: you can redistribute it and/or modify 6 | # it under the terms of the GNU General Public License as published by 7 | # the Free Software Foundation, either version 3 of the License, or 8 | # (at your option) any later version. 9 | # 10 | # This program is distributed in the hope that it will be useful, 11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | # GNU General Public License for more details. 14 | # 15 | # You should have received a copy of the GNU General Public License 16 | # along with this program. If not, see . 17 | 18 | import IPython 19 | from ur5_factory import UR5_Factory 20 | 21 | __author__ = "Rafael Papallas" 22 | __authors__ = ["Rafael Papallas"] 23 | __copyright__ = "Copyright (C) 2018, The University of Leeds" 24 | __credits__ = ["Rafael Papallas", "Dr. Mehmet Dogar"] 25 | __email__ = "Rafael: r.papallas@leeds.ac.uk | Mehmet: m.r.dogar@leeds.ac.uk" 26 | __license__ = "GPLv3" 27 | __maintainer__ = "Rafael Papallas" 28 | __status__ = "Production" 29 | __version__ = "0.0.1" 30 | 31 | if __name__ == "__main__": 32 | ur5_factory = UR5_Factory() 33 | 34 | # The create_ur5_and_env() method takes also the following optional 35 | # arguments: is_simulation, has_ridgeback, gripper_name, 36 | # has_force_torque_sensor, env_path, viewer_name, urdf_path, and 37 | # srdf_path. See ur5_factory.py class for more details. 38 | env, robot = ur5_factory.create_ur5_and_env(is_simulation=True, has_force_torque_sensor=False) 39 | 40 | IPython.embed() 41 | -------------------------------------------------------------------------------- /scripts/test_env.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 1.02727556229 0.0665829107165 0.719971299171 4 | 0.0110235936463 0.999939238346 1.19202053067e-07 -0.999939238346 0.0110235936463 -1.17895167838e-07 -1.19202039327e-07 -1.1789518173e-07 1.0 5 | 6 | 7 | .5 0.4 0.02 8 | 0.9 0.9 0.9 9 | 10 | 11 | 0.45 0.35 -0.365 12 | 1 0 0 -90 13 | 0.02 14 | 0.7 15 | 0.9 0.9 0.9 16 | 17 | 18 | -0.45 0.35 -0.365 19 | 1 0 0 -90 20 | 0.02 21 | 0.7 22 | 0.9 0.9 0.9 23 | 24 | 25 | 0.45 -0.35 -0.365 26 | 1 0 0 -90 27 | 0.02 28 | 0.7 29 | 0.9 0.9 0.9 30 | 31 | 32 | -0.45 -0.35 -0.365 33 | 1 0 0 -90 34 | 0.02 35 | 0.7 36 | 0.9 0.9 0.9 37 | 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /src/robotiqcontroller.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2017 The University of Leeds 2 | // 3 | // This program is free software: you can redistribute it and/or modify 4 | // it under the terms of the GNU General Public License as published by 5 | // the Free Software Foundation, either version 3 of the License, or 6 | // (at your option) any later version. 7 | // 8 | // This program is distributed in the hope that it will be useful, 9 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | // GNU General Public License for more details. 12 | // 13 | // You should have received a copy of the GNU General Public License 14 | // along with this program. If not, see . 15 | // 16 | // Author: Rafael Papallas (www.papallas.me) 17 | 18 | #include 19 | #include 20 | #include 21 | #include "ros/ros.h" 22 | #include "ros/time.h" 23 | #include "std_msgs/String.h" 24 | #include "sensor_msgs/JointState.h" 25 | #include "robotiq_c_model_control/CModel_robot_input.h" 26 | #include "robotiq_c_model_control/CModel_robot_output.h" 27 | #include "plugindefs.h" 28 | 29 | using namespace std; 30 | using namespace OpenRAVE; 31 | 32 | typedef robotiq_c_model_control::CModel_robot_output Gripper_Output; 33 | typedef robotiq_c_model_control::CModel_robot_input Gripper_Input; 34 | 35 | /** 36 | This is a controller for the Robotiq Two-Finger Gripper. This is an 37 | OpenRAVE controller that will set the DOF value of the gripper in 38 | OpenRAVE and will also execute trajectories/actions to the actual 39 | gripper. 40 | 41 | This gripper is also working with the OpenRAVE MultiController. 42 | 43 | @author Rafael Papallas 44 | */ 45 | class RobotiqController : public ControllerBase { 46 | public: 47 | RobotiqController(EnvironmentBasePtr penv, 48 | std::istream &sinput) : ControllerBase(penv) { 49 | __description = ":Interface Authors: Rafael Papallas & Dr Mehmet Dogar, The University of Leeds"; 50 | 51 | _nControlTransformation = 0; 52 | _penv = penv; 53 | _paused = false; 54 | _initialized = false; 55 | } 56 | 57 | /** 58 | Initialiser when the robot is attached to the controller. 59 | 60 | Subscribes to the topic /joint_states that listens to changes 61 | to the robot joints and calls a callback to act on the new 62 | values. 63 | */ 64 | virtual bool Init(RobotBasePtr robot, const std::vector &dofindices, int nControlTransformation) { 65 | _probot = robot; 66 | 67 | if (!!_probot) { 68 | _dofindices = dofindices; 69 | _nControlTransformation = nControlTransformation; 70 | } 71 | 72 | _pn = new ros::NodeHandle(); 73 | 74 | // Subscribe to the topic that the robot publishes changes to joint values. 75 | _gripper_subscriber = _pn->subscribe("CModelRobotInput", 76 | 1, 77 | &RobotiqController::GripperStateCallback, 78 | this); 79 | 80 | // Publisher to /arm_controller/command, will publish to the robot the new joint values. 81 | _gripper_publisher = _pn->advertise("CModelRobotOutput", 1); 82 | 83 | _initialized = true; 84 | 85 | // Usually when starting the gripper for the first time, it 86 | // requires to rest and activate it before you can operate it 87 | // by running reset and activate commands. 88 | reset(); 89 | activate(); 90 | 91 | return true; 92 | } 93 | 94 | /** 95 | Callback when the joint values changes. Responsible to 96 | change the robot model in OpenRAVE. 97 | 98 | @param msg the message sent by the subscriber (i.e the new 99 | joint values) 100 | */ 101 | void GripperStateCallback(const Gripper_Input::ConstPtr &msg) { 102 | if (_paused) { 103 | return; 104 | } 105 | 106 | _current_status = msg->gSTA; 107 | _is_gripper_activated = msg->gACT; 108 | 109 | std::vector gripper_value; 110 | gripper_value.push_back(RobotValueToModelValue(msg->gPO)); 111 | 112 | // Set DOF Values of the joint angles just received from message 113 | // to the robot in OpenRAVE. 114 | OpenRAVE::EnvironmentMutex::scoped_lock lockenv(_penv->GetMutex()); 115 | _probot->SetDOFValues(gripper_value, 116 | KinBody::CLA_CheckLimitsSilent, 117 | _dofindices); 118 | } 119 | 120 | /** 121 | Given a value in the range of 0 - OPENRAVE_GRIPPER_MAX_VALUE 122 | will map this value to a number in the range of 123 | 0 - ROBOT_GRIPPER_MAX_VALUE. 124 | 125 | OpenRAVE uses a float representation for the gripper joint 126 | from 0 - ~0.87.. where the actual gripper joint limits 127 | are 0 - 255. 128 | */ 129 | int ModelValueToRobotValue(double value) { 130 | return (int) round(ROBOT_GRIPPER_MAX_VALUE / OPENRAVE_GRIPPER_MAX_VALUE * abs(value)); 131 | } 132 | 133 | /** 134 | Given a value in the range of 0 - ROBOT_GRIPPER_MAX_VALUE will map 135 | this value to a number in the range of 136 | 0 - OPENRAVE_GRIPPER_MAX_VALUE. 137 | 138 | OpenRAVE uses a float representation for the gripper joint 139 | from 0 - ~0.87.. where the actual gripper joint limits 140 | are 0 - 255. 141 | */ 142 | double RobotValueToModelValue(int value) { 143 | return OPENRAVE_GRIPPER_MAX_VALUE / ROBOT_GRIPPER_MAX_VALUE * abs(value); 144 | } 145 | 146 | virtual void Reset(int options) { 147 | _command.rACT = 0; 148 | publish_command(); 149 | } 150 | 151 | virtual const std::vector &GetControlDOFIndices() const { 152 | return _dofindices; 153 | } 154 | 155 | virtual int IsControlTransformation() const { 156 | return _nControlTransformation; 157 | } 158 | 159 | virtual bool SetDesired(const std::vector &values, 160 | TransformConstPtr trans) { 161 | return setValue(ModelValueToRobotValue(values[0])); 162 | } 163 | 164 | virtual bool SetPath(TrajectoryBaseConstPtr ptraj) { 165 | return true; 166 | } 167 | 168 | virtual void SimulationStep(dReal fTimeElapsed) { 169 | if (!_initialized) { 170 | return; 171 | } 172 | 173 | ros::spinOnce(); 174 | } 175 | 176 | virtual bool IsDone() { 177 | return _current_status == 3 && _is_gripper_activated == 1; 178 | } 179 | 180 | virtual OpenRAVE::dReal GetTime() const { 181 | return 0; 182 | } 183 | 184 | virtual RobotBasePtr GetRobot() const { 185 | return _probot; 186 | } 187 | 188 | void publish_command() { 189 | _gripper_publisher.publish(_command); 190 | } 191 | 192 | bool setValue(int value) { 193 | if (value >= 0 && value <= 255) { 194 | _command.rPR = value; 195 | _command.rACT = 1; 196 | _command.rGTO = 1; 197 | _command.rATR = 0; 198 | _command.rSP = 55; 199 | _command.rFR = 0; 200 | 201 | publish_command(); 202 | return true; 203 | } 204 | else { 205 | ROS_ERROR("The value for the gripper was out of limits 0-255."); 206 | return false; 207 | } 208 | } 209 | 210 | void reset() { 211 | _command.rACT = 0; 212 | _command.rGTO = 0; 213 | _command.rATR = 0; 214 | _command.rPR = 0; 215 | _command.rSP = 0; 216 | _command.rFR = 0; 217 | 218 | publish_command(); 219 | } 220 | 221 | void activate() { 222 | _command.rACT = 1; 223 | _command.rGTO = 0; 224 | _command.rSP = 255; 225 | _command.rFR = 150; 226 | 227 | publish_command(); 228 | } 229 | 230 | private: 231 | bool _initialized; 232 | bool _paused; 233 | int _nControlTransformation; 234 | int _current_status; 235 | int _is_gripper_activated; 236 | 237 | std::vector _dofindices; 238 | Gripper_Output _command; 239 | 240 | ros::Subscriber _gripper_subscriber; 241 | ros::Publisher _gripper_publisher; 242 | ros::NodeHandle *_pn; 243 | 244 | RobotBasePtr _probot; 245 | EnvironmentBasePtr _penv; 246 | 247 | const float OPENRAVE_GRIPPER_MAX_VALUE = 0.77; 248 | const int ROBOT_GRIPPER_MAX_VALUE = 255; 249 | }; 250 | 251 | ControllerBasePtr CreateRobotiqController(EnvironmentBasePtr penv, std::istream &sinput) { 252 | return ControllerBasePtr(new RobotiqController(penv, sinput)); 253 | } 254 | -------------------------------------------------------------------------------- /src/ur5controller.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2017 The University of Leeds 2 | // 3 | // This program is free software: you can redistribute it and/or modify 4 | // it under the terms of the GNU General Public License as published by 5 | // the Free Software Foundation, either version 3 of the License, or 6 | // (at your option) any later version. 7 | // 8 | // This program is distributed in the hope that it will be useful, 9 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | // GNU General Public License for more details. 12 | // 13 | // You should have received a copy of the GNU General Public License 14 | // along with this program. If not, see . 15 | // 16 | // Author: Rafael Papallas (www.papallas.me) 17 | 18 | #include 19 | #include 20 | #include "ros/ros.h" 21 | #include "ros/time.h" 22 | #include "std_msgs/String.h" 23 | #include "sensor_msgs/JointState.h" 24 | #include "trajectory_msgs/JointTrajectory.h" 25 | #include "control_msgs/FollowJointTrajectoryGoal.h" 26 | #include "control_msgs/FollowJointTrajectoryAction.h" 27 | #include 28 | #include 29 | #include "plugindefs.h" 30 | #include 31 | #include 32 | #include 33 | 34 | using namespace std; 35 | using namespace OpenRAVE; 36 | 37 | typedef actionlib::SimpleActionClient TrajClient; 38 | 39 | class Ur5Controller : public ControllerBase { 40 | public: 41 | Ur5Controller(EnvironmentBasePtr penv, std::istream &sinput) : ControllerBase(penv) { 42 | __description = ":Interface Authors: Rafael Papallas & Mehmet Dogar, The University of Leeds"; 43 | 44 | _nControlTransformation = 0; 45 | _penv = penv; 46 | _paused = false; 47 | _initialized = false; 48 | _maximum_velocity_limit_per_joint = 0.2; 49 | 50 | // Keeps track of whether a client asked from this class to send a 51 | // a goal to the action server. 52 | _goal_requested = false; 53 | } 54 | 55 | /** 56 | Initialiser when the robot is attached to the controller. 57 | 58 | Subscribes to the topic /joint_states that listens to changes to the 59 | robot joints and calls a callback to act on the new values. Will 60 | also crient an action client to send trajectories to the action 61 | server. 62 | */ 63 | virtual bool Init(RobotBasePtr robot, const std::vector &dofindices, int nControlTransformation) { 64 | _probot = robot; 65 | 66 | if (!!_probot) { 67 | _dofindices = dofindices; 68 | _nControlTransformation = nControlTransformation; 69 | } 70 | 71 | // Add velocity limits. 72 | OpenRAVE::EnvironmentMutex::scoped_lock lockenv(_penv->GetMutex()); 73 | vector velocity_limits; 74 | 75 | for(int i=0; i<7; i++) { 76 | velocity_limits.push_back(_maximum_velocity_limit_per_joint); 77 | } 78 | 79 | _probot->SetDOFVelocityLimits(velocity_limits); 80 | 81 | _pn = new ros::NodeHandle(); 82 | 83 | // Subscribe to the topic that the robot publishes changes to joint values. 84 | _joint_angles_sub = _pn->subscribe("/joint_states", 1, &Ur5Controller::JointStateCallback, this); 85 | _initialized = true; 86 | 87 | _ac = new TrajClient("follow_joint_trajectory", true); 88 | _ac->waitForServer(); 89 | 90 | return true; 91 | } 92 | 93 | /** 94 | Callback when the joint values changes. Responsible to change the robot 95 | model in OpenRAVE. 96 | 97 | @param msg the message sent by the subscriber (i.e the new joint values) 98 | */ 99 | void JointStateCallback(const sensor_msgs::JointState::ConstPtr &msg) { 100 | if (_paused) { 101 | return; 102 | } 103 | 104 | // Create a joint vector for angles and assign the new values from message. 105 | std::vector joint_angles(6); 106 | for (unsigned int i = 0; i < (msg->position).size(); i++) { 107 | joint_angles[i] = (msg->position).at(i); 108 | } 109 | 110 | // Set DOF Values of the joint angles just received from message to the 111 | // robot in OpenRAVE. 112 | OpenRAVE::EnvironmentMutex::scoped_lock lockenv(_penv->GetMutex()); 113 | _probot->SetDOFValues(joint_angles, 114 | KinBody::CLA_CheckLimitsSilent, 115 | _dofindices); 116 | } 117 | 118 | virtual void Reset(int options) { 119 | } 120 | 121 | virtual const std::vector &GetControlDOFIndices() const { 122 | return _dofindices; 123 | } 124 | 125 | virtual int IsControlTransformation() const { 126 | return _nControlTransformation; 127 | } 128 | 129 | virtual bool SetDesired(const std::vector &values, TransformConstPtr trans) { 130 | return true; 131 | } 132 | 133 | TrajectoryBasePtr SimplifyTrajectory(TrajectoryBaseConstPtr ptraj) { 134 | TrajectoryBasePtr traj = RaveCreateTrajectory(_penv, ptraj->GetXMLId()); 135 | traj->Init(_probot->GetConfigurationSpecification()); 136 | traj->Clone(ptraj, Clone_Bodies); 137 | 138 | std::vector::const_iterator it = ptraj->GetConfigurationSpecification().FindCompatibleGroup("iswaypoint",true); 139 | if (it == ptraj->GetConfigurationSpecification()._vgroups.end()) { 140 | return traj; 141 | } 142 | 143 | for(int i=ptraj->GetNumWaypoints()-1; i >= 0; i--) { 144 | std::vector values(1); 145 | ptraj->GetWaypoint(i,values,*it); 146 | if(values[0] == 0) { 147 | traj->Remove(i,i+1); 148 | } 149 | } 150 | return traj; 151 | } 152 | 153 | virtual bool SetPath(TrajectoryBaseConstPtr ptraj) { 154 | if (ptraj != NULL) { 155 | _goal_requested = true; 156 | TrajectoryBasePtr traj = SimplifyTrajectory(ptraj); 157 | 158 | PlannerStatus status = planningutils::RetimeTrajectory(traj, false, 1.0, 1.0, "LinearTrajectoryRetimer"); 159 | if (status != PS_HasSolution) { 160 | ROS_ERROR("Not executing trajectory because retimer failed."); 161 | return false; 162 | } 163 | 164 | trajectory_msgs::JointTrajectory trajectory = FromOpenRaveToRosTrajectory(traj); 165 | control_msgs::FollowJointTrajectoryGoal goal; 166 | goal.trajectory = trajectory; 167 | _ac->sendGoal(goal); 168 | } 169 | 170 | return true; 171 | } 172 | 173 | trajectory_msgs::JointTrajectory FromOpenRaveToRosTrajectory(TrajectoryBasePtr traj) { 174 | trajectory_msgs::JointTrajectory trajectory; 175 | trajectory.header.stamp = ros::Time::now(); 176 | trajectory.header.frame_id = "base_link"; 177 | trajectory.joint_names.resize(6); 178 | trajectory.points.resize(traj->GetNumWaypoints()); 179 | trajectory.joint_names[0] = "shoulder_pan_joint"; 180 | trajectory.joint_names[1] = "shoulder_lift_joint"; 181 | trajectory.joint_names[2] = "elbow_joint"; 182 | trajectory.joint_names[3] = "wrist_1_joint"; 183 | trajectory.joint_names[4] = "wrist_2_joint"; 184 | trajectory.joint_names[5] = "wrist_3_joint"; 185 | 186 | for(int i=0; i < traj->GetNumWaypoints(); i++) { 187 | trajectory_msgs::JointTrajectoryPoint ros_waypoint; 188 | vector or_waypoint; 189 | traj->GetWaypoint(i, or_waypoint); 190 | std::vector values(6); 191 | traj->GetConfigurationSpecification().ExtractJointValues(values.begin(), 192 | or_waypoint.begin(), 193 | _probot, 194 | _dofindices); 195 | 196 | dReal deltatime; 197 | traj->GetConfigurationSpecification().ExtractDeltaTime(deltatime, 198 | or_waypoint.begin()); 199 | 200 | trajectory.points[i].positions.resize(6); 201 | trajectory.points[i].velocities.resize(6); 202 | 203 | for (int j = 0; j < 6; j++) { 204 | trajectory.points[i].positions[j] = values[j]; 205 | trajectory.points[i].velocities[j] = 0.0; 206 | } 207 | 208 | if (i>0) 209 | trajectory.points[i].time_from_start = trajectory.points[i-1].time_from_start + ros::Duration(deltatime); 210 | else 211 | trajectory.points[0].time_from_start = ros::Duration(0); 212 | } 213 | 214 | return trajectory; 215 | } 216 | 217 | virtual void SimulationStep(dReal fTimeElapsed) { 218 | if (!_initialized) { 219 | return; 220 | } 221 | 222 | ros::spinOnce(); 223 | } 224 | 225 | virtual bool IsDone() { 226 | if (_goal_requested) { 227 | _goal_requested = false; 228 | 229 | bool result = _ac->waitForResult(); 230 | 231 | // Due to some problems with the robot driver, the 232 | // wait for result returns slightly faster while the 233 | // robot is still moving which causes planning errors. 234 | // Here we are sleeping for 2 seconds to avoid this 235 | // side-effect. 236 | if (result) { 237 | std::this_thread::sleep_for(std::chrono::milliseconds(2000)); 238 | return true; 239 | } 240 | 241 | return false; 242 | } 243 | 244 | return true; 245 | } 246 | 247 | virtual OpenRAVE::dReal GetTime() const { 248 | return 0; 249 | } 250 | 251 | virtual RobotBasePtr GetRobot() const { 252 | return _probot; 253 | } 254 | 255 | 256 | private: 257 | bool _initialized; 258 | bool _paused; 259 | bool _goal_requested; 260 | int _nControlTransformation; 261 | dReal _maximum_velocity_limit_per_joint; 262 | 263 | std::vector _dofindices; 264 | 265 | ros::Subscriber _joint_angles_sub; 266 | ros::NodeHandle *_pn; 267 | TrajClient* _ac; 268 | 269 | RobotBasePtr _probot; 270 | EnvironmentBasePtr _penv; 271 | }; 272 | 273 | ControllerBasePtr CreateUr5Controller(EnvironmentBasePtr penv, std::istream &sinput) { 274 | return ControllerBasePtr(new Ur5Controller(penv, sinput)); 275 | } 276 | -------------------------------------------------------------------------------- /src/ur5controller_interface.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2017 The University of Leeds 2 | // 3 | // This program is free software: you can redistribute it and/or modify 4 | // it under the terms of the GNU General Public License as published by 5 | // the Free Software Foundation, either version 3 of the License, or 6 | // (at your option) any later version. 7 | // 8 | // This program is distributed in the hope that it will be useful, 9 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | // GNU General Public License for more details. 12 | // 13 | // You should have received a copy of the GNU General Public License 14 | // along with this program. If not, see . 15 | // 16 | // Author: Rafael Papallas (www.papallas.me) 17 | 18 | #include "ros/ros.h" 19 | #include "plugindefs.h" 20 | #include 21 | 22 | ControllerBasePtr CreateUr5Controller(EnvironmentBasePtr penv, 23 | std::istream &sinput); 24 | 25 | ControllerBasePtr CreateRobotiqController(EnvironmentBasePtr penv, 26 | std::istream &sinput); 27 | 28 | InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, 29 | const std::string &interfaceName, 30 | std::istream &sinput, 31 | EnvironmentBasePtr penv) { 32 | 33 | switch (type) { 34 | case PT_Controller: 35 | if (interfaceName == "ur5controller") { 36 | if (!ros::isInitialized()) { 37 | int argc = 0; 38 | std::string node_name = "ur5controller"; 39 | ros::init(argc, NULL, node_name, 40 | ros::init_options::AnonymousName); 41 | 42 | RAVELOG_INFO("Starting ROS node '%s'.\n", 43 | node_name.c_str()); 44 | } 45 | else { 46 | RAVELOG_INFO("Using existing ROS node '%s'\n", 47 | ros::this_node::getName().c_str()); 48 | } 49 | 50 | return CreateUr5Controller(penv, sinput); 51 | } 52 | 53 | if (interfaceName == "robotiqcontroller") { 54 | if (!ros::isInitialized()) { 55 | int argc = 0; 56 | std::string node_name = "robotiqcontroller"; 57 | ros::init(argc, NULL, node_name, 58 | ros::init_options::AnonymousName); 59 | 60 | RAVELOG_INFO("Starting ROS node '%s'.\n", 61 | node_name.c_str()); 62 | } 63 | else { 64 | RAVELOG_INFO("Using existing ROS node '%s'\n", 65 | ros::this_node::getName().c_str()); 66 | } 67 | 68 | return CreateRobotiqController(penv, sinput); 69 | } 70 | break; 71 | default: 72 | break; 73 | } 74 | 75 | return InterfaceBasePtr(); 76 | } 77 | 78 | void GetPluginAttributesValidated(PLUGININFO &info) { 79 | info.interfacenames[PT_Controller].push_back("Ur5Controller"); 80 | info.interfacenames[PT_Controller].push_back("RobotiqController"); 81 | } 82 | 83 | OPENRAVE_PLUGIN_API void DestroyPlugin() {} 84 | -------------------------------------------------------------------------------- /ur5_description/arm/meshes/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/ur5_description/arm/meshes/collision/base.stl -------------------------------------------------------------------------------- /ur5_description/arm/meshes/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/roboticsleeds/ur5controller/60267a49fe9c607ca67a7b7b26fa23f1e729ebee/ur5_description/arm/meshes/collision/forearm.stl -------------------------------------------------------------------------------- /ur5_description/arm/meshes/collision/shoulder.stl: -------------------------------------------------------------------------------- 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79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /ur5_description/srdf/clearpath_ridgeback__ur5.srdf: -------------------------------------------------------------------------------- 1 | 2 | 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 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /ur5_description/srdf/clearpath_ridgeback__ur5__robotiq_two_finger_gripper.srdf: -------------------------------------------------------------------------------- 1 | 2 | 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 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /ur5_description/srdf/clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.srdf: -------------------------------------------------------------------------------- 1 | 2 | 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 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /ur5_description/urdf/clearpath_ridgeback__ur5.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 | 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 | 88 | 89 | 90 | 91 | 92 | transmission_interface/SimpleTransmission 93 | 94 | VelocityJointInterface 95 | 96 | 97 | 1 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | transmission_interface/SimpleTransmission 131 | 132 | VelocityJointInterface 133 | 134 | 135 | 1 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | transmission_interface/SimpleTransmission 192 | 193 | VelocityJointInterface 194 | 195 | 196 | 1 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | transmission_interface/SimpleTransmission 230 | 231 | VelocityJointInterface 232 | 233 | 234 | 1 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 597 | 598 | 599 | 600 | 601 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 624 | 625 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 636 | 637 | 638 | 639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 | 650 | 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 | 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 677 | 678 | 679 | 680 | 681 | 682 | 683 | 684 | 685 | 686 | 687 | 688 | 689 | 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | transmission_interface/SimpleTransmission 701 | 702 | PositionJointInterface 703 | 704 | 705 | 1 706 | 707 | 708 | 709 | 710 | 711 | transmission_interface/SimpleTransmission 712 | 713 | PositionJointInterface 714 | 715 | 716 | 1 717 | 718 | 719 | 720 | 721 | 722 | transmission_interface/SimpleTransmission 723 | 724 | PositionJointInterface 725 | 726 | 727 | 1 728 | 729 | 730 | 731 | 732 | 733 | transmission_interface/SimpleTransmission 734 | 735 | PositionJointInterface 736 | 737 | 738 | 1 739 | 740 | 741 | 742 | 743 | 744 | transmission_interface/SimpleTransmission 745 | 746 | PositionJointInterface 747 | 748 | 749 | 1 750 | 751 | 752 | 753 | 754 | 755 | transmission_interface/SimpleTransmission 756 | 757 | PositionJointInterface 758 | 759 | 760 | 1 761 | 762 | 763 | 764 | 765 | 766 | 767 | 768 | 772 | 773 | 774 | 775 | 776 | 777 | 778 | 779 | 780 | 781 | 782 | 783 | 784 | 785 | -------------------------------------------------------------------------------- /ur5_description/urdf/clearpath_ridgeback__ur5__robotiq_two_finger_gripper.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 | 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 | 88 | 89 | 90 | 91 | 92 | transmission_interface/SimpleTransmission 93 | 94 | VelocityJointInterface 95 | 96 | 97 | 1 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | transmission_interface/SimpleTransmission 131 | 132 | VelocityJointInterface 133 | 134 | 135 | 1 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | transmission_interface/SimpleTransmission 192 | 193 | VelocityJointInterface 194 | 195 | 196 | 1 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | transmission_interface/SimpleTransmission 230 | 231 | VelocityJointInterface 232 | 233 | 234 | 1 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 597 | 598 | 599 | 600 | 601 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 624 | 625 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 636 | 637 | 638 | 639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 | 650 | 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 | 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 677 | 678 | 679 | 680 | 681 | 682 | 683 | 684 | 685 | 686 | 687 | 688 | 689 | 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | transmission_interface/SimpleTransmission 701 | 702 | PositionJointInterface 703 | 704 | 705 | 1 706 | 707 | 708 | 709 | 710 | 711 | transmission_interface/SimpleTransmission 712 | 713 | PositionJointInterface 714 | 715 | 716 | 1 717 | 718 | 719 | 720 | 721 | 722 | transmission_interface/SimpleTransmission 723 | 724 | PositionJointInterface 725 | 726 | 727 | 1 728 | 729 | 730 | 731 | 732 | 733 | transmission_interface/SimpleTransmission 734 | 735 | PositionJointInterface 736 | 737 | 738 | 1 739 | 740 | 741 | 742 | 743 | 744 | transmission_interface/SimpleTransmission 745 | 746 | PositionJointInterface 747 | 748 | 749 | 1 750 | 751 | 752 | 753 | 754 | 755 | transmission_interface/SimpleTransmission 756 | 757 | PositionJointInterface 758 | 759 | 760 | 1 761 | 762 | 763 | 764 | 765 | 766 | 767 | 768 | 772 | 773 | 774 | 775 | 776 | 777 | 778 | 779 | 780 | 781 | 782 | 783 | 784 | 785 | 786 | 787 | 788 | 789 | 790 | 791 | 792 | 793 | 794 | 795 | 796 | 797 | 798 | 799 | 800 | 801 | 802 | 803 | 804 | 805 | 806 | 807 | 808 | 809 | 810 | 811 | 812 | 813 | 814 | 815 | 816 | 817 | 818 | 819 | 820 | 821 | 822 | 823 | 824 | 825 | 826 | 827 | 828 | 829 | 830 | 831 | 832 | 833 | 834 | 835 | 836 | 837 | 838 | 839 | 840 | 841 | 842 | 843 | 844 | 845 | 846 | 847 | 848 | 849 | 850 | 851 | 852 | 853 | 854 | 855 | 856 | 857 | 858 | 859 | 860 | 861 | 862 | 863 | 864 | 865 | 866 | 867 | 868 | 869 | 870 | 871 | 872 | 873 | 874 | 875 | 876 | 877 | 878 | 879 | 880 | 881 | 882 | 883 | 884 | 885 | 886 | 887 | 888 | 889 | 890 | 891 | 892 | 893 | 894 | 895 | 896 | 897 | 898 | 899 | 900 | 901 | 902 | 903 | 904 | 905 | 906 | 907 | 908 | 909 | 910 | 911 | 912 | 913 | 914 | 915 | 916 | 917 | 918 | 919 | 920 | 921 | 922 | 923 | 924 | 925 | 926 | 927 | 928 | 929 | 930 | 931 | 932 | 933 | 934 | 935 | 936 | 937 | 938 | 939 | 940 | 941 | 942 | 943 | 944 | 945 | 946 | 947 | 948 | 949 | 950 | 951 | 952 | 953 | 954 | 955 | 956 | 957 | 958 | 959 | 960 | 961 | 962 | 963 | 964 | 965 | 966 | 967 | 968 | 969 | 970 | 971 | 972 | 973 | 974 | 975 | 976 | 977 | 978 | 979 | 980 | 981 | 982 | 983 | 984 | 985 | 986 | 987 | 988 | 989 | 990 | 991 | 992 | 993 | 994 | 995 | 996 | 997 | 998 | 999 | 1000 | 1001 | 1002 | 1003 | 1004 | 1005 | 1006 | 1007 | 1008 | 1009 | 1010 | 1011 | 1012 | 1013 | 1014 | 1015 | 1016 | 1017 | 1018 | 1019 | 1020 | 1021 | 1022 | 1023 | 1024 | 1025 | 1026 | 1027 | 1028 | 1029 | 1030 | 1031 | 1032 | 1033 | 1034 | 1035 | 1036 | 1037 | 1038 | 1039 | 1040 | 1041 | 1042 | 1043 | 1044 | 1045 | 1046 | 1047 | 1048 | 1049 | 1050 | 1051 | 1052 | 1053 | 1054 | 1055 | 1056 | 1057 | 1058 | 1059 | 1060 | 1061 | 1062 | 1063 | 1064 | 1065 | 1066 | 1067 | 1068 | 1069 | 1070 | 1071 | 1072 | 1073 | 1074 | 1075 | 1076 | 1077 | 1078 | 1079 | 1080 | 1081 | 1082 | 1083 | 1084 | 1085 | 1086 | 1087 | 1088 | 1089 | transmission_interface/SimpleTransmission 1090 | 1091 | PositionJointInterface 1092 | 1093 | 1094 | 1 1095 | 1096 | 1097 | 1098 | --------------------------------------------------------------------------------