├── .gitignore ├── LICENSE ├── README.md └── rmp-core ├── CMakeLists.txt ├── launch ├── rmp.launch └── test.launch ├── package.xml ├── scripts └── rmp.py └── worlds └── test.sdf /.gitignore: -------------------------------------------------------------------------------- 1 | devel/ 2 | logs/ 3 | build/ 4 | bin/ 5 | lib/ 6 | msg_gen/ 7 | srv_gen/ 8 | msg/*Action.msg 9 | msg/*ActionFeedback.msg 10 | msg/*ActionGoal.msg 11 | msg/*ActionResult.msg 12 | msg/*Feedback.msg 13 | msg/*Goal.msg 14 | msg/*Result.msg 15 | msg/_*.py 16 | build_isolated/ 17 | devel_isolated/ 18 | 19 | # Generated by dynamic reconfigure 20 | *.cfgc 21 | /cfg/cpp/ 22 | /cfg/*.py 23 | 24 | # Ignore generated docs 25 | *.dox 26 | *.wikidoc 27 | 28 | # eclipse stuff 29 | .project 30 | .cproject 31 | 32 | # qcreator stuff 33 | CMakeLists.txt.user 34 | 35 | srv/_*.py 36 | *.pcd 37 | *.pyc 38 | qtcreator-* 39 | *.user 40 | 41 | /planning/cfg 42 | /planning/docs 43 | /planning/src 44 | 45 | *~ 46 | 47 | # Emacs 48 | .#* 49 | 50 | # Catkin custom files 51 | CATKIN_IGNORE 52 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Raymond Ortiz 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rmp-ros 2 | Implementation of Riemannian Motion Policies in ROS 3 | -------------------------------------------------------------------------------- /rmp-core/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(rmp-core) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED) 11 | 12 | ## System dependencies are found with CMake's conventions 13 | # find_package(Boost REQUIRED COMPONENTS system) 14 | 15 | 16 | ## Uncomment this if the package has a setup.py. This macro ensures 17 | ## modules and global scripts declared therein get installed 18 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 19 | # catkin_python_setup() 20 | 21 | ################################################ 22 | ## Declare ROS messages, services and actions ## 23 | ################################################ 24 | 25 | ## To declare and build messages, services or actions from within this 26 | ## package, follow these steps: 27 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 28 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 29 | ## * In the file package.xml: 30 | ## * add a build_depend tag for "message_generation" 31 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 32 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 33 | ## but can be declared for certainty nonetheless: 34 | ## * add a exec_depend tag for "message_runtime" 35 | ## * In this file (CMakeLists.txt): 36 | ## * add "message_generation" and every package in MSG_DEP_SET to 37 | ## find_package(catkin REQUIRED COMPONENTS ...) 38 | ## * add "message_runtime" and every package in MSG_DEP_SET to 39 | ## catkin_package(CATKIN_DEPENDS ...) 40 | ## * uncomment the add_*_files sections below as needed 41 | ## and list every .msg/.srv/.action file to be processed 42 | ## * uncomment the generate_messages entry below 43 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 44 | 45 | ## Generate messages in the 'msg' folder 46 | # add_message_files( 47 | # FILES 48 | # Message1.msg 49 | # Message2.msg 50 | # ) 51 | 52 | ## Generate services in the 'srv' folder 53 | # add_service_files( 54 | # FILES 55 | # Service1.srv 56 | # Service2.srv 57 | # ) 58 | 59 | ## Generate actions in the 'action' folder 60 | # add_action_files( 61 | # FILES 62 | # Action1.action 63 | # Action2.action 64 | # ) 65 | 66 | ## Generate added messages and services with any dependencies listed here 67 | # generate_messages( 68 | # DEPENDENCIES 69 | # std_msgs # Or other packages containing msgs 70 | # ) 71 | 72 | ################################################ 73 | ## Declare ROS dynamic reconfigure parameters ## 74 | ################################################ 75 | 76 | ## To declare and build dynamic reconfigure parameters within this 77 | ## package, follow these steps: 78 | ## * In the file package.xml: 79 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 80 | ## * In this file (CMakeLists.txt): 81 | ## * add "dynamic_reconfigure" to 82 | ## find_package(catkin REQUIRED COMPONENTS ...) 83 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 84 | ## and list every .cfg file to be processed 85 | 86 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 87 | # generate_dynamic_reconfigure_options( 88 | # cfg/DynReconf1.cfg 89 | # cfg/DynReconf2.cfg 90 | # ) 91 | 92 | ################################### 93 | ## catkin specific configuration ## 94 | ################################### 95 | ## The catkin_package macro generates cmake config files for your package 96 | ## Declare things to be passed to dependent projects 97 | ## INCLUDE_DIRS: uncomment this if your package contains header files 98 | ## LIBRARIES: libraries you create in this project that dependent projects also need 99 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 100 | ## DEPENDS: system dependencies of this project that dependent projects also need 101 | catkin_package( 102 | # INCLUDE_DIRS include 103 | # LIBRARIES rmp-core 104 | # CATKIN_DEPENDS other_catkin_pkg 105 | # DEPENDS system_lib 106 | ) 107 | 108 | ########### 109 | ## Build ## 110 | ########### 111 | 112 | ## Specify additional locations of header files 113 | ## Your package locations should be listed before other locations 114 | include_directories( 115 | # include 116 | # ${catkin_INCLUDE_DIRS} 117 | ) 118 | 119 | ## Declare a C++ library 120 | # add_library(${PROJECT_NAME} 121 | # src/${PROJECT_NAME}/rmp-core.cpp 122 | # ) 123 | 124 | ## Add cmake target dependencies of the library 125 | ## as an example, code may need to be generated before libraries 126 | ## either from message generation or dynamic reconfigure 127 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 128 | 129 | ## Declare a C++ executable 130 | ## With catkin_make all packages are built within a single CMake context 131 | ## The recommended prefix ensures that target names across packages don't collide 132 | # add_executable(${PROJECT_NAME}_node src/rmp-core_node.cpp) 133 | 134 | ## Rename C++ executable without prefix 135 | ## The above recommended prefix causes long target names, the following renames the 136 | ## target back to the shorter version for ease of user use 137 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 138 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 139 | 140 | ## Add cmake target dependencies of the executable 141 | ## same as for the library above 142 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 143 | 144 | ## Specify libraries to link a library or executable target against 145 | # target_link_libraries(${PROJECT_NAME}_node 146 | # ${catkin_LIBRARIES} 147 | # ) 148 | 149 | ############# 150 | ## Install ## 151 | ############# 152 | 153 | # all install targets should use catkin DESTINATION variables 154 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 155 | 156 | ## Mark executable scripts (Python etc.) for installation 157 | ## in contrast to setup.py, you can choose the destination 158 | # install(PROGRAMS 159 | # scripts/my_python_script 160 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 161 | # ) 162 | 163 | ## Mark executables and/or libraries for installation 164 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 165 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 166 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 167 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 168 | # ) 169 | 170 | ## Mark cpp header files for installation 171 | # install(DIRECTORY include/${PROJECT_NAME}/ 172 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 173 | # FILES_MATCHING PATTERN "*.h" 174 | # PATTERN ".svn" EXCLUDE 175 | # ) 176 | 177 | ## Mark other files for installation (e.g. launch and bag files, etc.) 178 | # install(FILES 179 | # # myfile1 180 | # # myfile2 181 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 182 | # ) 183 | 184 | install( 185 | PROGRAMS 186 | scripts/rmp.py 187 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 188 | ) 189 | 190 | install( 191 | DIRECTORY launch 192 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 193 | ) 194 | 195 | ############# 196 | ## Testing ## 197 | ############# 198 | 199 | ## Add gtest based cpp test target and link libraries 200 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_rmp-core.cpp) 201 | # if(TARGET ${PROJECT_NAME}-test) 202 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 203 | # endif() 204 | 205 | ## Add folders to be run by python nosetests 206 | # catkin_add_nosetests(test) 207 | -------------------------------------------------------------------------------- /rmp-core/launch/rmp.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /rmp-core/launch/test.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /rmp-core/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | rmp-core 4 | 0.0.0 5 | The rmp-core package 6 | 7 | 8 | 9 | 10 | rematta 11 | 12 | 13 | 14 | 15 | 16 | MIT 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 | catkin 52 | 53 | fetch_gazebo_demo 54 | 55 | -------------------------------------------------------------------------------- /rmp-core/scripts/rmp.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # wave.py: "Wave" the fetch gripper 4 | import rospy 5 | import tf 6 | import math 7 | import numpy as np 8 | from moveit_msgs.msg import MoveItErrorCodes 9 | from moveit_python import MoveGroupInterface, PlanningSceneInterface 10 | from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion 11 | 12 | sigma = 0.01 13 | 14 | def CollisionController(rw, s, sdot): 15 | w = (rw - s)# np.max(0, rw - s) ** 2 16 | w[w < 0] = 0 17 | w = w ** 2 18 | u = 1-np.exp(- sdot ** 2 / (2 * sigma ** 2)) 19 | u[sdot > 0] = 0 20 | du = np.exp(- sdot ** 2 / (2 * sigma ** 2)) * sdot / (sigma ** 2) 21 | du[sdot > 0] = 0 22 | m = w * u + 0.5 * w * sdot * du 23 | return m 24 | 25 | 26 | def AttractionController(rw, s, sdot): 27 | result = np.zeros(s.shape) 28 | good = - 10 * CollisionController(rw, s, sdot) 29 | result[-1,:] = good[-1,:] 30 | return result 31 | 32 | def MotionPolicy(olds, s, avoid, goal): 33 | sdot = (s - olds) # might have to actually figure out velocity 34 | 35 | mp = 0 36 | for state in avoid: 37 | mp += CollisionController(state, s, sdot) 38 | mp += AttractionController(goal, s, sdot) 39 | oldStates = s 40 | 41 | return mp 42 | 43 | 44 | # Note: fetch_moveit_config move_group.launch must be running 45 | # Safety!: Do NOT run this script near people or objects. 46 | # Safety!: There is NO perception. 47 | # The ONLY objects the collision detection software is aware 48 | # of are itself & the floor. 49 | if __name__ == '__main__': 50 | rospy.init_node("RMP") 51 | 52 | move_group = MoveGroupInterface("arm_with_torso", "base_link") 53 | 54 | listener = tf.TransformListener() 55 | 56 | frames = ["/shoulder_pan_link", "/shoulder_lift_link", "/upperarm_roll_link", 57 | "/elbow_flex_link", "/forearm_roll_link", "/wrist_flex_link", "/wrist_roll_link", 58 | "/gripper_link"] 59 | 60 | obstacle = [[3.68883, 3.145310, 0.942161]] 61 | goal = [3.8, 3.15, 0.803] 62 | 63 | oldStates = np.zeros((8, 3)) 64 | time = rospy.get_time() 65 | 66 | rate = rospy.Rate(10) 67 | while not rospy.is_shutdown(): 68 | pos = [] 69 | ori = [] 70 | for frame in frames: 71 | try: 72 | t = listener.getLatestCommonTime(frame, "/map") 73 | trans, rot = listener.lookupTransform(frame, "/map", t) 74 | pos.append(trans) 75 | ori.append(rot) 76 | except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): 77 | break 78 | if len(pos) == 8: 79 | pos = np.array(pos) 80 | acc = MotionPolicy(oldStates, pos, obstacle, goal) 81 | oldStates = pos 82 | 83 | acc = np.multiply(acc, ((rospy.get_time() - time) ** 2) / 2.0) 84 | time = rospy.get_time() 85 | 86 | poses = np.add(pos, acc) 87 | pose = poses[-2] 88 | rot = ori[-2] 89 | gripper_pose = Pose(Point(pose[0], pose[1], pose[2]), 90 | Quaternion(rot[0], rot[1], rot[2], rot[3])) 91 | 92 | gripper_pose_stamped = PoseStamped() 93 | gripper_pose_stamped.header.frame_id = "/map" 94 | gripper_pose_stamped.header.stamp = t 95 | gripper_pose_stamped.pose = gripper_pose 96 | 97 | move_group.moveToPose(gripper_pose_stamped, frames[-2][1:]) 98 | rate.sleep() 99 | move_group.get_move_action().cancel_all_goals() 100 | -------------------------------------------------------------------------------- /rmp-core/worlds/test.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 6 | 7 | 8 | 9 | 0 0 1 10 | 100 100 11 | 12 | 13 | 14 | 15 | 16 | 100 17 | 50 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 10 29 | 30 | 31 | 0 32 | 33 | 34 | 0 0 1 35 | 100 100 36 | 37 | 38 | 39 | 43 | 44 | 45 | 0 46 | 0 47 | 1 48 | 49 | 50 | 51 | 1 52 | 0 0 10 0 -0 0 53 | 0.8 0.8 0.8 1 54 | 0.1 0.1 0.1 1 55 | 56 | 1000 57 | 0.9 58 | 0.01 59 | 0.001 60 | 61 | -0.5 0.5 -1 62 | 63 | 64 | 65 | 66 | 15 67 | 68 | 0 69 | 0 70 | 0 71 | 0 72 | 0 73 | 0.1 74 | 75 | 76 | 77 | -8.12 8.8 0 1.57 -0 0 78 | 79 | 80 | model://test_zone/meshes/building.dae 81 | 1 1 1 82 | 83 | 84 | 10 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | -8.12 8.8 0 1.57 -0 0 100 | 101 | 102 | model://test_zone/meshes/building.dae 103 | 1 1 1 104 | 105 | 106 | 107 | 0 108 | 0 109 | 1 110 | 111 | 1 112 | 113 | 114 | 1 115 | 116 | 117 | 0 0 0.755 0 -0 0 118 | 119 | 120 | 0.913 0.913 0.04 121 | 122 | 123 | 10 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 0 0 0.37 0 -0 0 139 | 140 | 141 | 0.042 0.042 0.74 142 | 143 | 144 | 10 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 0 0 0.02 0 -0 0 160 | 161 | 162 | 0.56 0.56 0.04 163 | 164 | 165 | 10 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | model://cafe_table/meshes/cafe_table.dae 183 | 1 1 1 184 | 185 | 186 | 187 | 0 188 | 0 189 | 1 190 | 191 | 4.05 3 0 0 -0 1.57 192 | 193 | 194 | 1 195 | 196 | 197 | 0 0 0.755 0 -0 0 198 | 199 | 200 | 0.913 0.913 0.04 201 | 202 | 203 | 10 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 0 0 0.37 0 -0 0 219 | 220 | 221 | 0.042 0.042 0.74 222 | 223 | 224 | 10 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 0 0 0.02 0 -0 0 240 | 241 | 242 | 0.56 0.56 0.04 243 | 244 | 245 | 10 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | model://cafe_table/meshes/cafe_table.dae 263 | 1 1 1 264 | 265 | 266 | 267 | 0 268 | 0 269 | 1 270 | 271 | -3 5 0 0 -0 1.57 272 | 273 | 274 | 0 275 | 276 | 277 | 0.25 278 | 279 | 0.001 280 | 0 281 | 0 282 | 0.001 283 | 0 284 | 0.001 285 | 286 | 287 | 288 | 289 | 290 | 0.06 0.06 0.06 291 | 292 | 293 | 294 | 295 | 296 | 30 297 | 30 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 1e+06 306 | 100 307 | 1 308 | 0.002 309 | 310 | 311 | 312 | 313 | 10 314 | 315 | 316 | 317 | 318 | 0.06 0.06 0.06 319 | 320 | 321 | 322 | 326 | 327 | 328 | 329 | 0 330 | 0 331 | 332 | 0 333 | 0 334 | 1 335 | 336 | 3.8 3.15 0.83 0 -0 0 337 | 338 | 0 0 -9.8 339 | 6e-06 2.3e-05 -4.2e-05 340 | 341 | 342 | 0.001 343 | 1 344 | 1000 345 | 346 | 347 | 0.4 0.4 0.4 1 348 | 0.7 0.7 0.7 1 349 | 1 350 | 351 | 352 | EARTH_WGS84 353 | 0 354 | 0 355 | 0 356 | 0 357 | 358 | 359 | 360 | 0 0 0 0 -0 0 361 | 362 | -0.028329 0.000913 0.103558 0 -0 0 363 | 83.4172 364 | 365 | 6.20776 366 | 0.0213393 367 | 1.10946 368 | 6.49062 369 | -0.0326202 370 | 1.3596 371 | 372 | 373 | 374 | 0 0 0 0 -0 0 375 | 376 | 377 | 1 1 1 378 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/base_link_collision.STL 379 | 380 | 381 | 382 | 383 | 384 | 1e+08 385 | 10 386 | 10 387 | 0.0005 388 | 389 | 390 | 391 | 392 | 0.1 393 | 0.1 394 | 1 0 0 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 10 403 | 404 | 405 | -0.12465 0.23892 0.31127 1.5708 -0 0 406 | 407 | 408 | 1 1 1 409 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/estop_link.STL 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 10 425 | 426 | 427 | 0.235 0 0.2878 -3.14159 -0 0 428 | 429 | 430 | 1 1 1 431 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/laser_link.STL 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 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707 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/r_wheel_link.STL 708 | 709 | 710 | 711 | 715 | 716 | 717 | 1 718 | 719 | 0 720 | 0 721 | 722 | 723 | r_wheel_link 724 | base_link 725 | 726 | 0 1 0 727 | 728 | -1e+16 729 | 1e+16 730 | 731 | 732 | 0 733 | 0 734 | 735 | 1 736 | 737 | 738 | 739 | 1 740 | 1 741 | 742 | 0 743 | 0.2 744 | 745 | 746 | 747 | 748 | 749 | -0.086875 0 0.37743 0 -0 0 750 | 751 | -0.000984 -0.000886 0.286874 0 -0 0 752 | 10.949 753 | 754 | 0.36931 755 | -3.0664e-06 756 | -0.0147406 757 | 0.367812 758 | -0.000535712 759 | 0.0971639 760 | 761 | 762 | 763 | 0 0 0 0 -0 0 764 | 765 | 766 | 1 1 1 767 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/torso_lift_link_collision.STL 768 | 769 | 770 | 10 771 | 772 | 773 | 774 | 775 | 776 | 777 | 778 | 779 | 780 | 781 | 782 | 783 | 784 | 785 | 0 0 0 0 -0 0 786 | 787 | 788 | 1 1 1 789 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/bellows_link_collision.STL 790 | 791 | 792 | 793 | 794 | 795 | 796 | 797 | 798 | 799 | 800 | 801 | 802 | 803 | 804 | 10 805 | 806 | 807 | 0 0 0 0 -0 0 808 | 809 | 810 | 1 1 1 811 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/torso_lift_link.dae 812 | 813 | 814 | 815 | 816 | 0 0 0 0 -0 0 817 | 818 | 819 | 1 1 1 820 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/bellows_link.STL 821 | 822 | 823 | 824 | 828 | 829 | 830 | 1 831 | 832 | 0 833 | 0 834 | 835 | 836 | torso_lift_link 837 | base_link 838 | 839 | 0 0 1 840 | 841 | 0 842 | 0.38615 843 | 450 844 | 0.1 845 | 846 | 847 | 100 848 | 0 849 | 0 850 | 0 851 | 852 | 1 853 | 854 | 855 | 856 | -0.086875 0 0.37743 0 -0 0 857 | 858 | 0.019132 -0 -0.134862 0 -0 0 859 | 0.169374 860 | 861 | 0.00331159 862 | -8.9231e-18 863 | -5.38622e-08 864 | 0.00174447 865 | -8.06965e-17 866 | 0.00169418 867 | 868 | 869 | 870 | 0 0 0 0 -0 0 871 | 872 | 873 | 1 1 1 874 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/bellows_link_collision.STL 875 | 876 | 877 | 878 | 879 | 880 | 881 | 882 | 883 | 884 | 885 | 886 | 887 | 888 | 889 | 10 890 | 891 | 892 | 0 0 0 0 -0 0 893 | 894 | 895 | 1 1 1 896 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/bellows_link.STL 897 | 898 | 899 | 900 | 904 | 905 | 906 | 1 907 | 908 | 0 909 | 0 910 | 911 | 912 | bellows_link 913 | torso_lift_link 914 | 915 | 0 -0 -1 916 | 917 | 0 918 | 0.4 919 | 5 920 | 0.1 921 | 922 | 923 | 0 924 | 0 925 | 926 | 1 927 | 928 | 929 | 930 | -0.03375 0 0.980431 0 -0 0 931 | 932 | 0.0321 0.0161 0.039 0 -0 0 933 | 2.2556 934 | 935 | 0.0129 936 | 0.0002 937 | 0.0007 938 | 0.0095 939 | -0 940 | 0.0184 941 | 942 | 943 | 944 | 0 0 0 0 -0 0 945 | 946 | 947 | 1 1 1 948 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/head_pan_link_collision.STL 949 | 950 | 951 | 10 952 | 953 | 954 | 955 | 956 | 957 | 958 | 959 | 960 | 961 | 962 | 963 | 964 | 965 | 966 | 0 0 0 0 -0 0 967 | 968 | 969 | 1 1 1 970 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/head_pan_link.dae 971 | 972 | 973 | 974 | 0 975 | 0 976 | 1 977 | 978 | 979 | head_pan_link 980 | torso_lift_link 981 | 982 | 0 0 1 983 | 984 | -1.57 985 | 1.57 986 | 0.32 987 | 1.57 988 | 989 | 990 | 0 991 | 0 992 | 993 | 1 994 | 995 | 996 | 997 | 0.10878 0 1.03843 0 -0 0 998 | 999 | 0.0081 0.0025 0.0113 0 -0 0 1000 | 0.9087 1001 | 1002 | 0.0061 1003 | -0 1004 | 0.0002 1005 | 0.0014 1006 | -0.0001 1007 | 0.0061 1008 | 1009 | 1010 | 1011 | 0 0 0 0 -0 0 1012 | 1013 | 1014 | 1 1 1 1015 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/head_tilt_link_collision.STL 1016 | 1017 | 1018 | 10 1019 | 1020 | 1021 | 1022 | 1023 | 1024 | 1025 | 1026 | 1027 | 1028 | 1029 | 1030 | 1031 | 1032 | 1033 | 0 0 0 0 -0 0 1034 | 1035 | 1036 | 1 1 1 1037 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/head_tilt_link.dae 1038 | 1039 | 1040 | 1041 | 1 1042 | 1043 | 0 1044 | 1045 | 1 1046 | 15 1047 | 1048 | 1.0472 1049 | 1050 | B8G8R8 1051 | 640 1052 | 480 1053 | 1054 | 1055 | 0.05 1056 | 50 1057 | 1058 | 1059 | 1060 | 0.1 1061 | true 1062 | 15.0 1063 | head_camera 1064 | /head_camera/rgb/image_raw 1065 | /head_camera/rgb/camera_info 1066 | /head_camera/depth_registered/image_raw 1067 | /head_camera/depth_registered/camera_info 1068 | /head_camera/depth_registered/points 1069 | head_camera_rgb_optical_frame 1070 | 0.35 1071 | 4.5 1072 | 0 1073 | 0 1074 | 0 1075 | 0 1076 | 0 1077 | / 1078 | 1079 | 0.055 0.02 0.0225 0 -0 0 1080 | 1081 | 0 1082 | 1083 | 1084 | head_tilt_link 1085 | head_pan_link 1086 | 1087 | 0 1 0 1088 | 1089 | -0.76 1090 | 1.45 1091 | 0.68 1092 | 1.57 1093 | 1094 | 1095 | 0 1096 | 0 1097 | 1098 | 1 1099 | 1100 | 1101 | 1102 | 0.03265 0 0.72601 0 -0 0 1103 | 1104 | 0.0927 -0.0056 0.0564 0 -0 0 1105 | 2.5587 1106 | 1107 | 0.0043 1108 | -0.0001 1109 | 0.001 1110 | 0.0087 1111 | -0.0001 1112 | 0.0087 1113 | 1114 | 1115 | 1116 | 0 0 0 0 -0 0 1117 | 1118 | 1119 | 1 1 1 1120 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/shoulder_pan_link_collision.STL 1121 | 1122 | 1123 | 10 1124 | 1125 | 1126 | 1127 | 1128 | 1129 | 1130 | 1131 | 1132 | 1133 | 1134 | 1135 | 1136 | 1137 | 1138 | 0 0 0 0 -0 0 1139 | 1140 | 1141 | 1 1 1 1142 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/shoulder_pan_link.dae 1143 | 1144 | 1145 | 1146 | 0 1147 | 0 1148 | 1 1149 | 1150 | 1151 | shoulder_pan_link 1152 | torso_lift_link 1153 | 1154 | 0 0 1 1155 | 1156 | -1.6056 1157 | 1.6056 1158 | 33.82 1159 | 1.256 1160 | 1161 | 1162 | 1 1163 | 0 1164 | 0 1165 | 0 1166 | 1167 | 1 1168 | 1169 | 1170 | 1171 | 0.14965 0 0.78601 0 -0 0 1172 | 1173 | 0.1432 0.0072 -0.0001 0 -0 0 1174 | 2.6615 1175 | 1176 | 0.0028 1177 | -0.0021 1178 | -0 1179 | 0.0111 1180 | -0 1181 | 0.0112 1182 | 1183 | 1184 | 1185 | 0 0 0 0 -0 0 1186 | 1187 | 1188 | 1 1 1 1189 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/shoulder_lift_link_collision.STL 1190 | 1191 | 1192 | 10 1193 | 1194 | 1195 | 1196 | 1197 | 1198 | 1199 | 1200 | 1201 | 1202 | 1203 | 1204 | 1205 | 1206 | 1207 | 0 0 0 0 -0 0 1208 | 1209 | 1210 | 1 1 1 1211 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/shoulder_lift_link.dae 1212 | 1213 | 1214 | 1215 | 0 1216 | 0 1217 | 1 1218 | 1219 | 1220 | shoulder_lift_link 1221 | shoulder_pan_link 1222 | 1223 | 0 1 0 1224 | 1225 | -1.221 1226 | 1.518 1227 | 131.76 1228 | 1.454 1229 | 1230 | 1231 | 1 1232 | 0 1233 | 0 1234 | 0 1235 | 1236 | 1 1237 | 1238 | 1239 | 1240 | 0.36865 0 0.78601 0 -0 0 1241 | 1242 | 0.1165 0.0014 0 0 -0 0 1243 | 2.3311 1244 | 1245 | 0.0019 1246 | -0.0001 1247 | 0 1248 | 0.0045 1249 | 0 1250 | 0.0047 1251 | 1252 | 1253 | 1254 | 0 0 0 0 -0 0 1255 | 1256 | 1257 | 1 1 1 1258 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/upperarm_roll_link_collision.STL 1259 | 1260 | 1261 | 10 1262 | 1263 | 1264 | 1265 | 1266 | 1267 | 1268 | 1269 | 1270 | 1271 | 1272 | 1273 | 1274 | 1275 | 1276 | 0 0 0 0 -0 0 1277 | 1278 | 1279 | 1 1 1 1280 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/upperarm_roll_link.dae 1281 | 1282 | 1283 | 1284 | 0 1285 | 0 1286 | 1 1287 | 1288 | 1289 | upperarm_roll_link 1290 | shoulder_lift_link 1291 | 1292 | 1 0 0 1293 | 1294 | -1e+16 1295 | 1e+16 1296 | 1297 | 1298 | 5 1299 | 0 1300 | 0 1301 | 0 1302 | 1303 | 1 1304 | 1305 | 1306 | 1307 | 0.50165 0 0.78601 0 -0 0 1308 | 1309 | 0.1279 0.0073 0 0 -0 0 1310 | 2.1299 1311 | 1312 | 0.0024 1313 | -0.0016 1314 | 0 1315 | 0.0082 1316 | -0 1317 | 0.0084 1318 | 1319 | 1320 | 1321 | 0 0 0 0 -0 0 1322 | 1323 | 1324 | 1 1 1 1325 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/elbow_flex_link_collision.STL 1326 | 1327 | 1328 | 10 1329 | 1330 | 1331 | 1332 | 1333 | 1334 | 1335 | 1336 | 1337 | 1338 | 1339 | 1340 | 1341 | 1342 | 1343 | 0 0 0 0 -0 0 1344 | 1345 | 1346 | 1 1 1 1347 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/elbow_flex_link.dae 1348 | 1349 | 1350 | 1351 | 0 1352 | 0 1353 | 1 1354 | 1355 | 1356 | elbow_flex_link 1357 | upperarm_roll_link 1358 | 1359 | 0 1 0 1360 | 1361 | -2.251 1362 | 2.251 1363 | 66.18 1364 | 1.521 1365 | 1366 | 1367 | 1 1368 | 0 1369 | 0 1370 | 0 1371 | 1372 | 1 1373 | 1374 | 1375 | 1376 | 0.69865 0 0.78601 0 -0 0 1377 | 1378 | 0.1097 -0.0266 0 0 -0 0 1379 | 1.6563 1380 | 1381 | 0.0016 1382 | -0.0003 1383 | 0 1384 | 0.003 1385 | -0 1386 | 0.0035 1387 | 1388 | 1389 | 1390 | 0 0 0 0 -0 0 1391 | 1392 | 1393 | 1 1 1 1394 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/forearm_roll_link_collision.STL 1395 | 1396 | 1397 | 10 1398 | 1399 | 1400 | 1401 | 1402 | 1403 | 1404 | 1405 | 1406 | 1407 | 1408 | 1409 | 1410 | 1411 | 1412 | 0 0 0 0 -0 0 1413 | 1414 | 1415 | 1 1 1 1416 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/forearm_roll_link.dae 1417 | 1418 | 1419 | 1420 | 0 1421 | 0 1422 | 1 1423 | 1424 | 1425 | forearm_roll_link 1426 | elbow_flex_link 1427 | 1428 | 1 0 0 1429 | 1430 | -1e+16 1431 | 1e+16 1432 | 1433 | 1434 | 5 1435 | 0 1436 | 0 1437 | 0 1438 | 1439 | 1 1440 | 1441 | 1442 | 1443 | 1 1444 | 1 1445 | 1446 | 0 1447 | 0.2 1448 | 1449 | 1450 | 1451 | 1452 | 1453 | 0.82315 0 0.78601 0 -0 0 1454 | 1455 | 0.0882 0.0009 -0.0001 0 -0 0 1456 | 1.725 1457 | 1458 | 0.0018 1459 | -0.0001 1460 | -0 1461 | 0.0042 1462 | 0 1463 | 0.0042 1464 | 1465 | 1466 | 1467 | 0 0 0 0 -0 0 1468 | 1469 | 1470 | 1 1 1 1471 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/wrist_flex_link_collision.STL 1472 | 1473 | 1474 | 10 1475 | 1476 | 1477 | 1478 | 1479 | 1480 | 1481 | 1482 | 1483 | 1484 | 1485 | 1486 | 1487 | 1488 | 1489 | 0 0 0 0 -0 0 1490 | 1491 | 1492 | 1 1 1 1493 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/wrist_flex_link.dae 1494 | 1495 | 1496 | 1497 | 0 1498 | 0 1499 | 1 1500 | 1501 | 1502 | wrist_flex_link 1503 | forearm_roll_link 1504 | 1505 | 0 1 0 1506 | 1507 | -2.16 1508 | 2.16 1509 | 25.7 1510 | 2.268 1511 | 1512 | 1513 | 1 1514 | 0 1515 | 0 1516 | 0 1517 | 1518 | 1 1519 | 1520 | 1521 | 1522 | 0.96165 0 0.78601 0 -0 0 1523 | 1524 | 0.070966 -5.9e-05 -0.001577 0 -0 0 1525 | 1.6529 1526 | 1527 | 0.00140031 1528 | 4.16123e-06 1529 | 1.24837e-05 1530 | 0.00255747 1531 | -9.32314e-08 1532 | 0.00305722 1533 | 1534 | 1535 | 1536 | 0 0 0 0 -0 0 1537 | 1538 | 1539 | 1 1 1 1540 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/wrist_roll_link_collision.STL 1541 | 1542 | 1543 | 10 1544 | 1545 | 1546 | 1547 | 1548 | 1549 | 1550 | 1551 | 1552 | 1553 | 1554 | 1555 | 1556 | 1557 | 1558 | 0.16645 0 0 0 -0 0 1559 | 1560 | 1561 | 1 1 1 1562 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/gripper_link.STL 1563 | 1564 | 1565 | 10 1566 | 1567 | 1568 | 1569 | 1570 | 1571 | 1572 | 1573 | 1574 | 1575 | 1576 | 1577 | 1578 | 1579 | 1580 | 0 0 0 0 -0 0 1581 | 1582 | 1583 | 1 1 1 1584 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/wrist_roll_link.dae 1585 | 1586 | 1587 | 1588 | 1589 | 0.16645 0 0 0 -0 0 1590 | 1591 | 1592 | 1 1 1 1593 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/gripper_link.dae 1594 | 1595 | 1596 | 1597 | 0 1598 | 0 1599 | 1 1600 | 1601 | 1602 | wrist_roll_link 1603 | wrist_flex_link 1604 | 1605 | 1 0 0 1606 | 1607 | -1e+16 1608 | 1e+16 1609 | 1610 | 1611 | 5 1612 | 0 1613 | 0 1614 | 0 1615 | 1616 | 1 1617 | 1618 | 1619 | 1620 | 1 1621 | 1 1622 | 1623 | 0 1624 | 0.2 1625 | 1626 | 1627 | 1628 | 1629 | 1630 | 1.1281 -0.015425 0.78601 0 -0 0 1631 | 1632 | -0.01 0 0 0 -0 0 1633 | 0.0798 1634 | 1635 | 0.002 1636 | 0 1637 | 0 1638 | 0 1639 | 0 1640 | 0 1641 | 1642 | 1643 | 1644 | 0 -0.101425 0 0 -0 0 1645 | 1646 | 1647 | 1 1 1 1648 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/l_gripper_finger_link.STL 1649 | 1650 | 1651 | 1652 | 1653 | 1654 | 1e+06 1655 | 100 1656 | 1 1657 | 0.001 1658 | 1659 | 1660 | 1661 | 1662 | 30 1663 | 30 1664 | 1665 | 1666 | 1667 | 1668 | 1669 | 1670 | 1671 | 10 1672 | 1673 | 1674 | 0 -0.101425 0 0 -0 0 1675 | 1676 | 1677 | 1 1 1 1678 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/l_gripper_finger_link.STL 1679 | 1680 | 1681 | 1682 | 1686 | 1687 | 1688 | 1 1689 | 1690 | 0 1691 | 0 1692 | 1693 | 1694 | l_gripper_finger_link 1695 | wrist_roll_link 1696 | 1697 | 0 -1 0 1698 | 1699 | 0 1700 | 0.05 1701 | 60 1702 | 0.05 1703 | 1704 | 1705 | 100 1706 | 0 1707 | 0 1708 | 0 1709 | 1710 | 1 1711 | 1712 | 1713 | 1714 | 1.1281 0.015425 0.78601 0 -0 0 1715 | 1716 | -0.01 0 0 0 -0 0 1717 | 0.0798 1718 | 1719 | 0.002 1720 | 0 1721 | 0 1722 | 0 1723 | 0 1724 | 0 1725 | 1726 | 1727 | 1728 | 0 0.101425 0 0 -0 0 1729 | 1730 | 1731 | 1 1 1 1732 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/r_gripper_finger_link.STL 1733 | 1734 | 1735 | 1736 | 1737 | 1738 | 1e+06 1739 | 100 1740 | 1 1741 | 0.001 1742 | 1743 | 1744 | 1745 | 1746 | 30 1747 | 30 1748 | 1749 | 1750 | 1751 | 1752 | 1753 | 1754 | 1755 | 10 1756 | 1757 | 1758 | 0 0.101425 0 0 -0 0 1759 | 1760 | 1761 | 1 1 1 1762 | /home/raortiz/Schoolwork/cs8803/catkin_ws/src/fetch_ros/fetch_description/meshes/r_gripper_finger_link.STL 1763 | 1764 | 1765 | 1766 | 1770 | 1771 | 1772 | 1 1773 | 1774 | 0 1775 | 0 1776 | 1777 | 1778 | r_gripper_finger_link 1779 | wrist_roll_link 1780 | 1781 | 0 1 -0 1782 | 1783 | 0 1784 | 0.05 1785 | 60 1786 | 0.05 1787 | 1788 | 1789 | 100 1790 | 0 1791 | 0 1792 | 0 1793 | 1794 | 1 1795 | 1796 | 1797 | 0 1798 | 1799 | / 1800 | 1801 | 0 0 0 0 -0 0 1802 | 1803 | 1804 | 162 188000000 1805 | 76 678970350 1806 | 1544824433 326505145 1807 | 18195 1808 | 1809 | 3.8 3.15 0.802999 0 -0 0 1810 | 1 1 1 1811 | 1812 | 3.8 3.15 0.802999 0 -0 0 1813 | 0 0 0 0 -0 0 1814 | 0 0 0 0 -0 0 1815 | 0 0 0 0 -0 0 1816 | 1817 | 1818 | 1819 | 0.017359 -0.009841 0.001122 0.001045 -0.004733 -0.000401 1820 | 1 1 1 1821 | 1822 | 0.017359 -0.009841 0.001122 0.001045 -0.004733 -0.000401 1823 | -3e-05 5.4e-05 1.9e-05 -0.000215 -6.8e-05 0.000538 1824 | 0.19472 0.08174 0.059484 -0.118131 -0.272433 1.17146 1825 | 16.243 6.8185 4.96198 0 -0 0 1826 | 1827 | 1828 | -0.07127 -0.010193 0.371497 0.001045 -0.004733 -0.000401 1829 | -5.7e-05 8.7e-05 0.00025 -0.000196 -6.3e-05 0.000402 1830 | 0.157427 0.052827 0.045541 -0.09394 -0.263244 1.0371 1831 | 0.026664 0.008948 0.007713 0 -0 0 1832 | 1833 | 1834 | 0.091874 0.160974 0.44079 -3.10316 0.019573 -1.62418 1835 | 0.000125 -0.000502 -5.7e-05 0.00378 -0.000378 0.000529 1836 | -0.081478 -0.096715 -0.147106 3.01723 0.425946 -0.712301 1837 | -0.17354 -0.205994 -0.313321 0 -0 0 1838 | 1839 | 1840 | 0.081365 -0.035708 0.436935 -3.10316 0.019573 -1.62418 1841 | 0.000231 -0.000494 -0.000803 0.003837 0.000542 0.000537 1842 | -0.205907 -0.110888 -0.414915 -2.2411 1.54189 2.792 1843 | -0.341044 -0.183664 -0.687224 0 -0 0 1844 | 1845 | 1846 | -0.021032 -0.01085 0.981381 0.001046 -0.004733 -0.000581 1847 | -9.6e-05 0.00023 7.1e-05 -0.000188 -5.7e-05 -0.001305 1848 | -0.037141 0.137984 0.052652 -0.091697 -0.25836 -0.758158 1849 | -0.083776 0.311237 0.118761 0 -0 0 1850 | 1851 | 1852 | 0.121222 -0.010993 1.04005 0.001046 -0.002401 -0.000579 1853 | -9.8e-05 5.6e-05 8e-05 -0.000185 -0.000889 -0.001297 1854 | -0.106646 0.051256 0.121632 -0.066287 1.44644 -0.707966 1855 | -0.096909 0.046576 0.110527 0 -0 0 1856 | 1857 | 1858 | 0.129344 -0.141728 0.740993 -0.505053 -1.49131 2.02038 1859 | -0.16722 0.008665 -0.007763 -0.000452 0.000257 -0.000689 1860 | -335.246 18.1943 -13.3828 -3.07325 -0.602232 0.643011 1861 | -26.7526 1.45191 -1.06795 0 -0 0 1862 | 1863 | 1864 | 0.018462 0.177481 0.056648 0.001935 0.99892 0.00123 1865 | -0.000126 5.5e-05 -2.8e-05 -0.000876 -0.001304 0.000454 1866 | -0.006263 0.08905 0.044522 -1.3995 -1.17944 0.783173 1867 | -0.02727 0.387744 0.193857 0 -0 0 1868 | 1869 | 1870 | -0.000971 -0.134666 0.735976 -0.505028 -1.49131 2.02035 1871 | 0.167603 -0.009472 0.005105 -0.000476 -0.000666 1.7e-05 1872 | 334.414 -18.1437 12.4065 1.53987 0 1.14967 1873 | 26.6863 -1.44786 0.990038 0 -0 0 1874 | 1875 | 1876 | 0.018314 -0.197279 0.056257 0.00112 -0.378824 -0.000809 1877 | 7.9e-05 6e-05 3.3e-05 -0.00084 0.001729 0.001574 1878 | 0.437665 0.094255 0.059953 1.79361 0.542973 -1.26931 1879 | 1.90568 0.410403 0.261048 0 -0 0 1880 | 1881 | 1882 | 0.075365 0.102655 0.787533 -0.025093 1.39775 1.29491 1883 | 0.000117 0.000181 5.7e-05 -0.001898 0.000307 -0.001798 1884 | 0.003434 0.085721 0.038038 -0.609072 0.474637 -3.06098 1885 | 0.009138 0.228145 0.101239 0 -0 0 1886 | 1887 | 1888 | 0.046573 -0.010611 0.727278 -0.004329 -0.002187 1.31964 1889 | -8.6e-05 0.000214 7.3e-05 -0.00017 2.6e-05 -0.001726 1890 | 0.004376 0.216764 0.060571 -0.007085 -0.378155 -1.8906 1891 | 0.011197 0.554635 0.154984 0 -0 0 1892 | 1893 | 1894 | -0.071302 -0.0102 0.378136 0.001045 -0.004733 -0.000401 1895 | -5.6e-05 8.7e-05 6.6e-05 -0.000208 -6.6e-05 0.000569 1896 | 0.045312 0.071336 0.030225 -0.113386 -0.268542 1.20182 1897 | 0.496121 0.781054 0.330933 0 -0 0 1898 | 1899 | 1900 | 0.085636 0.138939 0.571804 -0.22499 1.39775 1.29492 1901 | 0.000122 -0.000243 -1.4e-05 -0.002003 -7.3e-05 0.000305 1902 | 0.008218 -0.094118 0.009995 -3.0211 -1.45789 2.38419 1903 | 0.019157 -0.219399 0.023299 0 -0 0 1904 | 1905 | 1906 | 0.074724 -0.160007 0.434498 -0.504993 -1.49131 2.02032 1907 | 0.000294 -0.000488 -0.001277 -0.000386 0.000757 0.000383 1908 | -0.047258 -0.056365 -0.377698 -0.345143 0.597772 -2.5788 1909 | -0.08152 -0.09723 -0.651528 0 -0 0 1910 | 1911 | 1912 | 0.069945 -0.150102 0.57256 -0.504997 -1.49131 2.02032 1913 | 0.000391 -0.000432 -0.001277 -0.000336 0.00065 -0.001059 1914 | 0.182183 -0.009453 -0.375592 -2.75949 -0.061119 3.00468 1915 | 0.30113 -0.015624 -0.620815 0 -0 0 1916 | 1917 | 1918 | 1919 | 0 0 0 0 -0 0 1920 | 1 1 1 1921 | 1922 | 0 0 0 0 -0 0 1923 | 0 0 0 0 -0 0 1924 | 0 0 0 0 -0 0 1925 | 0 0 0 0 -0 0 1926 | 1927 | 1928 | 1929 | 4.02514 3.05907 0 0 -0 1.57 1930 | 1 1 1 1931 | 1932 | 4.02514 3.05907 0 0 -0 1.57 1933 | 0 0 0 0 -0 0 1934 | 0 0 0 0 -0 0 1935 | 0 0 0 0 -0 0 1936 | 1937 | 1938 | 1939 | -3 5 0 0 -0 1.57 1940 | 1 1 1 1941 | 1942 | -3 5 0 0 -0 1.57 1943 | 0 0 0 0 -0 0 1944 | 0 0 0 0 -0 0 1945 | 0 0 0 0 -0 0 1946 | 1947 | 1948 | 1949 | 0 0 0 0 -0 0 1950 | 1 1 1 1951 | 1952 | 0 0 0 0 -0 0 1953 | 0 0 0 0 -0 0 1954 | 0 0 0 0 -0 0 1955 | 0 0 0 0 -0 0 1956 | 1957 | 1958 | 1959 | 3.68883 3.14531 0.942161 0 0 -1.57924 1960 | 1 1 1 1961 | 1962 | 3.68883 3.14531 0.942161 0 0 -1.57924 1963 | 0 0 0 0 -0 0 1964 | 0 0 0 0 -0 0 1965 | 0 0 0 0 -0 0 1966 | 1967 | 1968 | 1969 | 0 0 10 0 -0 0 1970 | 1971 | 1972 | 1973 | 1974 | 0 0 0 0 -0 0 1975 | 1976 | 1 1977 | 1978 | 0.166667 1979 | 0 1980 | 0 1981 | 0.166667 1982 | 0 1983 | 0.166667 1984 | 1985 | 0 0 0 0 -0 0 1986 | 1987 | 0 1988 | 0 1989 | 0 1990 | 1991 | 1992 | 1993 | 0.3 0.05 0.05 1994 | 1995 | 1996 | 1997 | 2001 | 0.3 0.3 0.3 1 2002 | 0.7 0.7 0.7 1 2003 | 0.01 0.01 0.01 1 2004 | 0 0 0 1 2005 | 2006 | __default__ 2007 | 2008 | 2009 | 0 0 0 0 -0 0 2010 | 1 2011 | 0 2012 | 2013 | 2014 | 0 2015 | 10 2016 | 0 0 0 0 -0 0 2017 | 2018 | 2019 | 0.3 0.05 0.05 2020 | 2021 | 2022 | 2023 | 2024 | 2025 | 1 2026 | 1 2027 | 0 0 0 2028 | 0 2029 | 0 2030 | 2031 | 2032 | 1 2033 | 0 2034 | 0 2035 | 1 2036 | 2037 | 0 2038 | 2039 | 2040 | 2041 | 2042 | 0 2043 | 1e+06 2044 | 2045 | 2046 | 0 2047 | 1 2048 | 1 2049 | 2050 | 0 2051 | 0.2 2052 | 1e+13 2053 | 1 2054 | 0.01 2055 | 0 2056 | 2057 | 2058 | 1 2059 | -0.01 2060 | 0 2061 | 0.2 2062 | 1e+13 2063 | 1 2064 | 2065 | 2066 | 2067 | 2068 | 2069 | 0 2070 | 1 2071 | 3.68616 3.15881 0.894367 0 0 -1.57924 2072 | 2073 | 2074 | 2075 | 0.526279 0.119124 9.2626 -0 1.5698 3.13785 2076 | orbit 2077 | perspective 2078 | 2079 | 2080 | 2081 | 2082 | --------------------------------------------------------------------------------