├── .DS_Store ├── .gitignore ├── LICENSE ├── README.md ├── ros2_agents ├── CMakeLists.txt ├── config │ ├── app_config.yaml │ ├── ros_gz_bridge.yaml │ └── rviz_gui.rviz ├── debug_tools │ └── dump_all_params.py ├── include │ └── ros2_agents │ │ ├── actor.hpp │ │ ├── agent.hpp │ │ ├── client.hpp │ │ ├── observer.hpp │ │ ├── octo.hpp │ │ ├── rt1.hpp │ │ └── util │ │ ├── generic_subscription.hpp │ │ └── image_processing.hpp ├── launch │ ├── gz_launch.py │ ├── mbodied_launch.py │ ├── moveit_launch.py │ ├── robot_description_launch.py │ └── task_launch.py ├── moveit │ ├── chomp_planning.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── sensors_3d.yaml ├── package.xml ├── robots │ ├── bipedal │ │ └── description │ │ │ └── urdf │ │ │ └── bipedal.urdf.xacro │ └── locobot_wx250s │ │ ├── control │ │ ├── ros_controllers.yaml │ │ └── sim │ │ │ ├── gz_control.urdf.xacro │ │ │ ├── gz_sense.urdf.xacro │ │ │ └── initial_positions.yaml │ │ ├── description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── images │ │ │ ├── interbotix_black.png │ │ │ ├── main_body.jpg │ │ │ ├── wheel.jpg │ │ │ └── xslocobot_description_flowchart.png │ │ ├── meshes │ │ │ ├── arms │ │ │ │ ├── ar_tag.stl │ │ │ │ ├── base.stl │ │ │ │ ├── gripper.stl │ │ │ │ ├── gripper_bar.stl │ │ │ │ ├── gripper_finger.stl │ │ │ │ ├── gripper_prop.stl │ │ │ │ ├── lower_forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upper_arm.stl │ │ │ │ ├── upper_forearm.stl │ │ │ │ └── wrist.stl │ │ │ ├── base │ │ │ │ ├── images │ │ │ │ │ ├── main_body.jpg │ │ │ │ │ └── wheel.jpg │ │ │ │ ├── kobuki.dae │ │ │ │ ├── kobuki_wheel.dae │ │ │ │ ├── locobot_base_plate.stl │ │ │ │ ├── locobot_camera_tower_large.stl │ │ │ │ ├── locobot_camera_tower_large_simple.stl │ │ │ │ ├── locobot_camera_tower_small.stl │ │ │ │ ├── locobot_camera_tower_small_simple.stl │ │ │ │ └── locobot_wheel.dae │ │ │ ├── body │ │ │ │ ├── locobot_base_plate.stl │ │ │ │ ├── locobot_battery.stl │ │ │ │ ├── locobot_camera_tower_large.stl │ │ │ │ ├── locobot_camera_tower_large_simple.stl │ │ │ │ ├── locobot_camera_tower_small.stl │ │ │ │ ├── locobot_camera_tower_small_simple.stl │ │ │ │ ├── locobot_main_body.dae │ │ │ │ ├── locobot_pan.stl │ │ │ │ └── locobot_tilt.stl │ │ │ └── locobot_camera.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── arms │ │ │ ├── ar_tag.urdf.xacro │ │ │ ├── mobile_arm.urdf.xacro │ │ │ └── mobile_wx250s.urdf.xacro │ │ │ ├── base │ │ │ └── kobuki.urdf.xacro │ │ │ ├── body │ │ │ ├── battery.urdf.xacro │ │ │ ├── camera_tower.urdf.xacro │ │ │ ├── pan_and_tilt.urdf.xacro │ │ │ └── plate.urdf.xacro │ │ │ ├── colors.urdf.xacro │ │ │ └── locobot.urdf.xacro │ │ └── moveit │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── locobot.srdf.xacro │ │ ├── modes_all.yaml │ │ └── ros_controller_interface.yaml ├── sim │ ├── .DS_Store │ ├── object_descriptions │ │ ├── meshes │ │ │ ├── camera │ │ │ │ ├── kinect.dae │ │ │ │ └── kinect.jpg │ │ │ └── objects │ │ │ │ ├── bar_clamp.dae │ │ │ │ ├── bowl.dae │ │ │ │ └── strawberry.dae │ │ ├── sdf │ │ │ └── bowl.sdf │ │ └── urdf │ │ │ ├── camera │ │ │ ├── camera.urdf.xacro │ │ │ └── camera_macro.urdf.xacro │ │ │ ├── colors.urdf.xacro │ │ │ ├── objects │ │ │ ├── barclamp.urdf.xacro │ │ │ ├── block.urdf.xacro │ │ │ ├── bowl.urdf.xacro │ │ │ ├── cylinder.urdf.xacro │ │ │ ├── strawberry.urdf.xacro │ │ │ └── table.urdf.xacro │ │ │ └── robots │ │ │ └── panda_camera.urdf.xacro │ ├── third_party │ │ ├── .DS_Store │ │ ├── Bookshelf │ │ │ ├── bookshelf_diffuse.jpg │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── Cafe │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── __auto_10.jpg │ │ │ │ │ ├── __auto_2.jpg │ │ │ │ │ ├── __auto_21.jpg │ │ │ │ │ ├── __auto_22.jpg │ │ │ │ │ ├── __auto_23.jpg │ │ │ │ │ ├── __auto_24.jpg │ │ │ │ │ ├── __auto_25.jpg │ │ │ │ │ ├── __auto_26.jpg │ │ │ │ │ ├── __auto_28.jpg │ │ │ │ │ ├── __auto_29.jpg │ │ │ │ │ ├── __auto_30.jpg │ │ │ │ │ ├── __auto_31.jpg │ │ │ │ │ ├── __auto_34.jpg │ │ │ │ │ ├── __auto_35.jpg │ │ │ │ │ └── __auto_37.jpg │ │ │ ├── meshes │ │ │ │ └── cafe.dae │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── Chair │ │ │ ├── meshes │ │ │ │ ├── Chair.mtl │ │ │ │ ├── Chair.obj │ │ │ │ ├── Chair.png │ │ │ │ ├── Chair_Diffuse.png │ │ │ │ ├── Chair_Normal.png │ │ │ │ └── Chair_SpecGloss.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── CoffeeTable │ │ │ ├── meshes │ │ │ │ ├── CoffeeTable.mtl │ │ │ │ ├── CoffeeTable.obj │ │ │ │ ├── CoffeeTable_Diffuse.png │ │ │ │ ├── CoffeeTable_Normal.png │ │ │ │ └── CoffeeTable_SpecGloss.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── FemaleVisitorSit │ │ │ ├── meshes │ │ │ │ ├── FemaleVisitorSit.mtl │ │ │ │ ├── FemaleVisitorSit.obj │ │ │ │ ├── FemaleVisitorSit.png │ │ │ │ ├── FemaleVisitorSit_Col.mtl │ │ │ │ ├── FemaleVisitorSit_Col.obj │ │ │ │ └── HandbagBlack.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── LampAndStand.zip │ │ ├── LampAndStand │ │ │ ├── meshes │ │ │ │ ├── LampAndStand.mtl │ │ │ │ ├── LampAndStand.obj │ │ │ │ ├── LampAndStand_Col.mtl │ │ │ │ ├── LampAndStand_Col.obj │ │ │ │ └── LampAndStand_Diffuse.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── MaleVisitorSit │ │ │ ├── meshes │ │ │ │ ├── MaleVisitorSit.mtl │ │ │ │ ├── MaleVisitorSit.obj │ │ │ │ ├── MaleVisitorSit.png │ │ │ │ ├── MaleVisitorSit_Col.mtl │ │ │ │ ├── MaleVisitorSit_Col.obj │ │ │ │ └── Phone.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── MiniSofa │ │ │ ├── meshes │ │ │ │ ├── MiniSofa_Diffuse.png │ │ │ │ ├── minisofa.mtl │ │ │ │ └── minisofa.obj │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── Sofa │ │ │ ├── meshes │ │ │ │ ├── Sofa.mtl │ │ │ │ ├── Sofa.obj │ │ │ │ └── SofaDiffuse.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── TEA_SET │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── TVStand │ │ │ ├── meshes │ │ │ │ ├── TVStand.mtl │ │ │ │ ├── TVStand.obj │ │ │ │ ├── TVStand_Col.mtl │ │ │ │ ├── TVStand_Col.obj │ │ │ │ └── TVStand_Diffuse.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── Table │ │ │ ├── Table_Diffuse.jpg │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── TestBox │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 0.png │ │ ├── big_spoon │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── coke_can │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── coke_can.png │ │ │ ├── meshes │ │ │ │ └── coke_can.dae │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── door_08x2m.zip │ │ ├── door_08x2m │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── door_08x2m.material │ │ │ │ └── textures │ │ │ │ │ └── door_08x2m.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ ├── green_bowl │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── mustard_bottle │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ ├── texture_map.png │ │ │ ├── textured.dae │ │ │ ├── textured.mtl │ │ │ ├── textured.obj │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── mustard_bottle2 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ ├── texture_map.png │ │ │ ├── textured.dae │ │ │ ├── textured.mtl │ │ │ ├── textured.obj │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ ├── red_bowl │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── room_wall_2x5m.zip │ │ ├── room_wall_2x5m │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── room_wall_2x5m.material │ │ │ │ └── textures │ │ │ │ │ └── wall_texture_1404x562.jpg │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.jpg │ │ ├── rug_ivory_2m │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── rug_ivory_2m.material │ │ │ │ └── textures │ │ │ │ │ └── rug_ivory_469x588.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ ├── serving_bowl │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── tableware_set │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── tea_pot │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── texture.png │ │ │ ├── meshes │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── metadata.pbtxt │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ ├── 0.jpg │ │ │ │ ├── 1.jpg │ │ │ │ ├── 2.jpg │ │ │ │ ├── 3.jpg │ │ │ │ └── 4.jpg │ │ ├── tv_65in │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── tv.material │ │ │ │ └── textures │ │ │ │ │ └── tv.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ ├── tv_65in_emissive 2 │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── tv_emissive.material │ │ │ │ └── textures │ │ │ │ │ └── tv_65in_maldives_909x541.jpg │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ ├── tv_65in_emissive │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── tv_emissive.material │ │ │ │ └── textures │ │ │ │ │ └── tv_65in_maldives_909x541.jpg │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ ├── window_curtains │ │ │ ├── material │ │ │ │ ├── script │ │ │ │ │ └── window_curtains.material │ │ │ │ └── textures │ │ │ │ │ └── window_curtains.png │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── thumbnails │ │ │ │ └── 1.png │ │ └── worlds │ │ │ ├── industrial-warehouse │ │ │ ├── industrial-warehouse.sdf │ │ │ └── thumbnails │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ ├── 3.png │ │ │ │ ├── 4.png │ │ │ │ └── 5.png │ │ │ └── living_room │ │ │ ├── living_room.sdf │ │ │ └── thumbnails │ │ │ └── 1.png │ └── worlds │ │ ├── empty.sdf │ │ └── world2.sdf ├── src │ ├── demo_app.cpp │ ├── octo.cpp │ └── rt1.cpp └── tasks │ ├── cluttered.yaml │ ├── living_tea.yaml │ ├── pick_coke_can.yaml │ ├── pick_coke_can_high_fidelity.yaml │ └── stack_blocks.yaml └── ros2_agents_interfaces ├── CMakeLists.txt ├── action ├── Mbodied.action └── SampleGraspPoses.action ├── msg ├── BaseControl.msg ├── EEFControl.msg └── MbodiedBasicControl.msg └── package.xml /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/.DS_Store -------------------------------------------------------------------------------- /ros2_agents/config/app_config.yaml: -------------------------------------------------------------------------------- 1 | 2 | use_sim_time: true 3 | num_iterations: 100 4 | sleep_ms: 500 5 | 6 | # Scale agent action outputs by this factor after truncating. 7 | xyz_scale: 1.0 8 | rpy_scale: 1.0 9 | world_frame: "world" 10 | instruction: "pick up the top block on the stack" 11 | xyz_bound_lo: 0.0 # Values with a smaller magnitude will be ignored 12 | xyz_bound_hi: 1.0 # Values with a larger magnitude will be truncated 13 | rpy_bound_lo: 0.0 14 | rpy_bound_hi: 3.14 15 | 16 | # Cartesian path planning 17 | cartesian: true # Recommended to avoid janky movements from RRT-like planners. 18 | xyz_tolerance: 0.0001 19 | rpy_tolerance: 0.01 20 | task_name: "cluttered" 21 | cartesian_step_size: 0.0005 22 | avoid_collisions: false 23 | 24 | ## This file contains the configuration for the rt1_demo_app 25 | # rt1_demo_app: 26 | # use_sim_time: { 27 | # type: bool, 28 | # default_value: true, 29 | # description: "Use simulation time" 30 | # } 31 | # num_iterations: { 32 | # type: int, 33 | # default_value: 100, 34 | # description: "Number of iterations to run the demo" 35 | # } 36 | # sleep_ms: { 37 | # type: int, 38 | # default_value: 100, 39 | # description: "Sleep time between iterations" 40 | # } 41 | # action_scale: { 42 | # type: double, 43 | # default_value: 1.0, 44 | # description: "Scale of the actions" 45 | # } 46 | # world_frame: { 47 | # type: string, 48 | # default_value: "world", 49 | # description: "Frame of the world" 50 | # } 51 | # avoid_collisions: { 52 | # type: bool, 53 | # default_value: true, 54 | # description: "Avoid collisions" 55 | # } 56 | # instruction: { 57 | # type: string, 58 | # default_value: "pick up the top block on the stack", 59 | # description: "Instruction to follow" 60 | # } 61 | 62 | # -------------------------------------------------------------------------------- /ros2_agents/config/ros_gz_bridge.yaml: -------------------------------------------------------------------------------- 1 | - ros_topic_name: '/rgbd_camera/image' 2 | ros_type_name: 'sensor_msgs/msg/Image' 3 | gz_type_name: 'ignition.msgs.Image' 4 | direction: GZ_TO_ROS 5 | 6 | - ros_topic_name: '/rgbd_camera/depth_image' 7 | ros_type_name: 'sensor_msgs/msg/Image' 8 | gz_type_name: 'ignition.msgs.Image' 9 | direction: GZ_TO_ROS 10 | 11 | - ros_topic_name: '/rgbd_camera/camera_info' 12 | ros_type_name: 'sensor_msgs/msg/CameraInfo' 13 | gz_type_name: 'ignition.msgs.CameraInfo' 14 | direction: GZ_TO_ROS 15 | 16 | - ros_topic_name: '/rgbd_camera/points' 17 | ros_type_name: 'sensor_msgs/msg/PointCloud2' 18 | gz_type_name: 'ignition.msgs.PointCloudPacked' 19 | direction: GZ_TO_ROS 20 | 21 | - ros_topic_name: '/clock' 22 | ros_type_name: 'rosgraph_msgs/msg/Clock' 23 | gz_type_name: 'ignition.msgs.Clock' 24 | direction: GZ_TO_ROS 25 | 26 | - ros_topic_name: '/camera' 27 | ros_type_name: 'sensor_msgs/msg/Image' 28 | gz_type_name: 'ignition.msgs.Image' 29 | direction: GZ_TO_ROS 30 | 31 | - ros_topic_name: '/camera_arm_base' 32 | ros_type_name: 'sensor_msgs/msg/Image' 33 | gz_type_name: 'ignition.msgs.Image' 34 | direction: GZ_TO_ROS 35 | 36 | 37 | # Full set of configurations 38 | # - ros_topic_name: "ros_chatter" 39 | # gz_topic_name: "ign_chatter" 40 | # ros_type_name: "std_msgs/msg/String" 41 | # gz_type_name: "ignition.msgs.StringMsg" 42 | # subscriber_queue: 5 # Default 10 43 | # publisher_queue: 6 # Default 10 44 | # lazy: true # Default "false" 45 | # direction: BIDIRECTIONAL # Default "BIDIRECTIONAL" - Bridge both directions 46 | # # "GZ_TO_ROS" - Bridge Ignition topic to ROS 47 | # # "ROS_TO_GZ" - Bridge ROS topic to Ignition -------------------------------------------------------------------------------- /ros2_agents/debug_tools/dump_all_params.py: -------------------------------------------------------------------------------- 1 | '''Dump all ros2 parameters to the command line. 2 | ''' 3 | 4 | import signal 5 | import subprocess 6 | import os 7 | import argparse 8 | 9 | 10 | def main(param_substr: str): 11 | '''Dump all ros2 parameters to the command line. 12 | 13 | Args: 14 | param_substr (str): substring to filter parameters by 15 | ''' 16 | print('Dumping all ros2 parameters to the command line.') 17 | 18 | nodes = subprocess.getoutput("ros2 node list").split("\n") 19 | for node in nodes: 20 | if node == '': 21 | continue 22 | lines = subprocess.getoutput(f"ros2 param dump {node}").split("\n") 23 | for line in lines: 24 | if param_substr in line: 25 | print(f"Node: {node} {line}") 26 | print('Done.') 27 | 28 | 29 | if __name__ == '__main__': 30 | argparser = argparse.ArgumentParser() 31 | argparser.add_argument('--param_substr', 32 | type=str, 33 | default='', 34 | help='substring to filter parameters by') 35 | 36 | args = argparser.parse_args() 37 | main(args.param_substr) 38 | -------------------------------------------------------------------------------- /ros2_agents/include/ros2_agents/octo.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Sebastian Peralta 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | 16 | #pragma once 17 | 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | #include 28 | namespace mbodied 29 | { 30 | 31 | typedef Observer, sensor_msgs::msg::Image, sensor_msgs::msg::Image> OctoObserver; 32 | typedef Agent, ros2_agents_interfaces::action::Mbodied, 33 | sensor_msgs::msg::Image, sensor_msgs::msg::Image> OctoAgent; 34 | 35 | class Octo : public OctoAgent 36 | { 37 | public: 38 | explicit Octo(rclcpp::NodeOptions & options); 39 | 40 | ros2_agents_interfaces::action::Mbodied::Feedback::SharedPtr 41 | actionFromObs(std::shared_ptr observer) override; 42 | 43 | std::unique_ptr> 44 | obsFromSrcs(std::shared_ptr image_primary, std::shared_ptr image_wrist) 45 | override; 46 | 47 | ~Octo() 48 | { 49 | inference_.release(); 50 | } 51 | 52 | private: 53 | 54 | rviz_visual_tools::RvizVisualToolsPtr visual_tools_; 55 | 56 | // TODO(speralta): Do not use global pybind vairables. 57 | pybind11::function inference_; 58 | 59 | pybind11::scoped_interpreter py_guard_; 60 | std::unique_ptr mp_gil_release_; 61 | int count_ = 0; 62 | 63 | }; 64 | } // namespace mbodied 65 | -------------------------------------------------------------------------------- /ros2_agents/include/ros2_agents/rt1.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Sebastian Peralta 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | 16 | #pragma once 17 | 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | 28 | #include 29 | namespace mbodied 30 | { 31 | 32 | typedef Observer RT1Observer; 33 | typedef Agent 35 | RT1Agent; 36 | class RT1 : public RT1Agent 37 | { 38 | public: 39 | explicit RT1(rclcpp::NodeOptions & options); 40 | 41 | ros2_agents_interfaces::action::Mbodied::Feedback::SharedPtr 42 | actionFromObs(std::shared_ptr observer) override; 43 | 44 | sensor_msgs::msg::Image::UniquePtr 45 | obsFromSrcs(std::shared_ptr msg) 46 | override; 47 | 48 | ~RT1() 49 | { 50 | inference_.release(); 51 | } 52 | 53 | private: 54 | rviz_visual_tools::RvizVisualToolsPtr visual_tools_; 55 | 56 | // TODO(speralta): Do not use global pybind vairables. 57 | pybind11::function inference_; 58 | 59 | pybind11::scoped_interpreter py_guard_; 60 | std::unique_ptr mp_gil_release_; 61 | int count_ = 0; 62 | std::string instruction_; 63 | }; 64 | } // namespace mbodied 65 | -------------------------------------------------------------------------------- /ros2_agents/include/ros2_agents/util/image_processing.hpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include 6 | 7 | namespace mbodied 8 | { 9 | 10 | using sensor_msgs::msg::Image; 11 | 12 | std::vector > >image_to_array(Image *msg) 13 | { 14 | // convert msg from Image to numpy array 15 | std::vector > > image; 16 | 17 | for (int i = 0; i < static_cast(msg->height); i++) 18 | { 19 | image.push_back(std::vector >(msg->width)); 20 | 21 | for (int j = 0; j < static_cast(msg->width); j++) 22 | { 23 | image[i][j] = std::array(); 24 | 25 | for (int k = 0; k < 3; k++) 26 | { 27 | image[i][j][k] = msg->data[i * msg->width * 3 + j * 3 + k]; 28 | } 29 | } 30 | } 31 | return image; 32 | } 33 | 34 | } // namespace mbodied -------------------------------------------------------------------------------- /ros2_agents/launch/mbodied_launch.py: -------------------------------------------------------------------------------- 1 | from os import path 2 | from launch import LaunchDescription 3 | from launch_ros.actions import Node 4 | from launch_ros.substitutions import FindPackageShare 5 | from launch.actions import ( 6 | IncludeLaunchDescription, 7 | DeclareLaunchArgument, 8 | RegisterEventHandler, 9 | LogInfo, 10 | SetEnvironmentVariable, 11 | ) 12 | from launch.event_handlers import OnProcessStart 13 | from launch.launch_description_sources import PythonLaunchDescriptionSource 14 | from launch.substitutions import ( 15 | PathJoinSubstitution, 16 | FindExecutable, 17 | Command, 18 | LaunchConfiguration, 19 | EnvironmentVariable 20 | ) 21 | from ament_index_python.packages import get_package_share_directory 22 | import yaml 23 | from os import path 24 | 25 | # Launch robot description, start controllers, start moveit, start sim 26 | def generate_launch_description(): 27 | # Get the launch directory 28 | ros2_agents_dir = get_package_share_directory('ros2_agents') 29 | 30 | # Create the launch configuration variables 31 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 32 | 33 | # Declare the launch arguments 34 | declare_use_sim_time_argument = DeclareLaunchArgument( 35 | 'use_sim_time', 36 | default_value='false', 37 | description='Use simulation (Gazebo) clock if true' 38 | ) 39 | declare_urdf_path_argument = DeclareLaunchArgument( 40 | 'urdf', 41 | default_value=path.join(ros2_agents_dir, 'urdf', '/robots/locobot_wx250s/description/urdf/locobot.urdf.xacro'), 42 | description='Absolute path to robot urdf file' 43 | ) 44 | 45 | 46 | 47 | robot_state_publisher_node = Node( 48 | package='robot_state_publisher', 49 | executable='robot_state_publisher', 50 | name='robot_state_publisher', 51 | output={'both','screen'}, 52 | parameters=[{'use_sim_time': use_sim_time, 'robot_description': Command([FindExecutable(name='xacro'), ' ', LaunchConfiguration('urdf')])}] 53 | ) 54 | 55 | # Include launch sim 56 | gz_launch_node = IncludeLaunchDescription( 57 | PythonLaunchDescriptionSource([ros2_agents_dir, '/launch/gz_launch.py']) 58 | ) 59 | 60 | # Spawn controllers 61 | return LaunchDescription([ 62 | declare_use_sim_time_argument, 63 | declare_urdf_path_argument, 64 | robot_state_publisher_node, 65 | robot_state_publisher_node, 66 | gz_launch_node, 67 | ]) -------------------------------------------------------------------------------- /ros2_agents/launch/robot_description_launch.py: -------------------------------------------------------------------------------- 1 | from launch import LaunchDescription 2 | from launch.actions import DeclareLaunchArgument, OpaqueFunction 3 | from launch.substitutions import Command, FindExecutable, LaunchConfiguration 4 | from launch_ros.actions import Node 5 | from launch_ros.parameter_descriptions import ParameterValue 6 | 7 | 8 | 9 | # def launch_setup(context, *args, **kwargs): 10 | 11 | # robot_state_publisher_node = Node( 12 | # package='robot_state_publisher', 13 | # executable='robot_state_publisher', 14 | # # namespace=robot_name_launch_arg, 15 | # parameters=[{ 16 | # 'robot_description': 17 | # ParameterValue( 18 | # Command(FindExecutable('xacro'), ' ', LaunchConfiguration('xacro_path') 19 | # , value_type=str), 20 | # 'use_sim_time': 21 | # use_sim_time_param, 22 | # }], 23 | # output={'both': 'screen'}, 24 | # ) 25 | 26 | # world_broadcaser_node = Node( 27 | # package="tf2_ros", 28 | # executable="static_transform_publisher", 29 | # arguments=['0', '0', '0', ' 0', '0', '0', 'odom', 'world'], 30 | # output="screen") 31 | 32 | # return [ 33 | # world_broadcaser_node, 34 | # robot_state_publisher_node, 35 | # ] 36 | 37 | 38 | def generate_launch_description(): 39 | 40 | 41 | return LaunchDescription([ 42 | DeclareLaunchArgument( 43 | 'use_sim_time', 44 | default_value='false', 45 | choices=('true', 'false'), 46 | description= 47 | ('tells ROS nodes asking for time to get the Gazebo-published simulation time, ' 48 | 'published over the ROS topic /clock.')), 49 | DeclareLaunchArgument( 'urdf_path'), 50 | Node( 51 | package='robot_state_publisher', 52 | executable='robot_state_publisher', 53 | parameters=[{ 54 | 'robot_description': 55 | ParameterValue(value= 56 | Command([FindExecutable(name='xacro'), ' ', LaunchConfiguration('urdf_path')] 57 | ), value_type=str), 58 | 'use_sim_time': 59 | LaunchConfiguration('use_sim_time'), 60 | }], 61 | output={'both': 'screen'}, 62 | )] 63 | ) 64 | -------------------------------------------------------------------------------- /ros2_agents/moveit/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /ros2_agents/moveit/kinematics.yaml: -------------------------------------------------------------------------------- 1 | rt1_demo_app: 2 | ros__parameters: 3 | interbotix_arm: 4 | kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 5 | kinematics_solver_search_resolution: 0.005 6 | kinematics_solver_timeout: 0.1 7 | kinematics_solver_attempts: 3 8 | # position_only_ik: true 9 | interbotix_gripper: 10 | kinematics_solver_search_resolution: 0.005 11 | kinematics_solver_timeout: 0.05 12 | kinematics_solver_attempts: 3 13 | -------------------------------------------------------------------------------- /ros2_agents/moveit/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # sensors: 2 | # - rgbd_sensor 3 | # rgbd_sensor: 4 | # sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater 5 | # point_cloud_topic: /rgbd_camera/points 6 | # filtered_cloud_topic: filtered_cloud 7 | # queue_size: 10 8 | # max_range: 5.0 9 | # # Choose one of every 'point_subsample' points (select all if set to 1). 10 | # point_subsample: 4 11 | # # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. 12 | # padding_scale: 1.0 13 | # # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters). 14 | # padding_offset: 0.05 15 | # # The octomap representation will be updated at rate less than or equal to this value. 16 | # max_update_rate: 1.0 17 | 18 | # # sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater 19 | # # image_topic: /rgbd_camera/depth_image 20 | # # queue_size: 5 21 | # # near_clipping_plane_distance: 0.01 22 | # # far_clipping_plane_distance: 10.0 23 | # # shadow_threshold: 0.2 24 | # # padding_offset: 0.03 25 | # # max_update_rate: 1.0 26 | # # max_range: 10.0 27 | # octomap_resolution: 0.005 28 | # # Specifies the coordinate frame in which the Octomap representation will be stored. 29 | # # Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor, 30 | # # this frame parameter will not be used. Instead, the frame defaults to the planning frame. 31 | # octomap_frame: "world" 32 | 33 | 34 | # sensors: 35 | # - rgbd_sensor 36 | # rgbd_sensor: 37 | # enabled: false 38 | # sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater 39 | # point_cloud_topic: /rgbd_camera/points 40 | # filtered_cloud_topic: filtered_cloud 41 | # queue_size: 10 42 | # max_range: 5.0 43 | # # Choose one of every 'point_subsample' points (select all if set to 1). 44 | # point_subsample: 4 45 | # # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. 46 | # padding_scale: 1.0 47 | # # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters). 48 | # padding_offset: 0.05 49 | # # The octomap representation will be updated at rate less than or equal to this value. 50 | # max_update_rate: 10.0 51 | 52 | # sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater 53 | # image_topic: /rgbd_camera/depth_image 54 | # queue_size: 5 55 | # near_clipping_plane_distance: 0.01 56 | # far_clipping_plane_distance: 10.0 57 | # shadow_threshold: 0.2 58 | # padding_offset: 0.03 59 | # max_update_rate: 1.0 60 | # max_range: 10.0 61 | octomap_resolution: 0.005 62 | # Specifies the coordinate frame in which the Octomap representation will be stored. 63 | # Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor, 64 | # this frame parameter will not be used. Instead, the frame defaults to the planning frame. 65 | octomap_frame: "world" -------------------------------------------------------------------------------- /ros2_agents/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ros2_agents 4 | 0.0.1 5 | Nodes to run LLM-based agents ros2 6 | Sebastian Peralta 7 | BSD 8 | ament_cmake 9 | 10 | sensor_msgs 11 | std_msgs 12 | rclcpp 13 | rclcpp_action 14 | geometry_msgs 15 | ros2_agents_interfaces 16 | 17 | 18 | ament_cmake_pytest 19 | ament_lint_auto 20 | ament_lint_common 21 | launch 22 | launch_testing 23 | launch_testing_ros 24 | launch_testing_ament_cmake 25 | rmw_implementation_cmake 26 | generate_parameter_library 27 | 28 | moveit 29 | moveit_core 30 | moveit_ros_planning 31 | 32 | 33 | ament_cmake 34 | 35 | ament_lint_auto 36 | ament_lint_common 37 | 38 | 39 | ament_cmake 40 | 41 | -------------------------------------------------------------------------------- /ros2_agents/robots/bipedal/description/urdf/bipedal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/control/sim/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | elbow: 0.75 2 | forearm_roll: 0 3 | shoulder: -0.6 4 | waist: -0.7 5 | wrist_angle: 0 6 | wrist_rotate: 0 7 | left_finger: 0 8 | right_finger: 0 9 | pan: 0 10 | tilt: 0.8 11 | 12 | # elbow: 1.55 13 | # forearm_roll: 0 14 | # shoulder: -1.1 15 | # waist: 0 16 | # wrist_angle: 0.5 17 | # wrist_rotate: 0 18 | # left_finger: 0.0195 19 | # right_finger: -0.0195 20 | # pan: 0 21 | # tilt: 0.8 22 | 23 | 24 | # 25 | # 26 | # 27 | # 28 | # 29 | # 30 | 31 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(interbotix_xslocobot_descriptions) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | find_package(ament_cmake REQUIRED) 19 | 20 | install( 21 | DIRECTORY 22 | urdf 23 | launch 24 | meshes 25 | rviz 26 | DESTINATION 27 | share/${PROJECT_NAME}/ 28 | ) 29 | 30 | if(BUILD_TESTING) 31 | find_package(ament_lint_auto REQUIRED) 32 | ament_lint_auto_find_test_dependencies() 33 | endif() 34 | 35 | ament_package() 36 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/README.md: -------------------------------------------------------------------------------- 1 | # interbotix_xslocobot_descriptions 2 | 3 | [![View Documentation](https://docs.trossenrobotics.com/docs_button.svg)](https://docs.trossenrobotics.com/interbotix_xslocobots_docs/ros2_packages/locobot_descriptions.html) 4 | 5 | ## Overview 6 | 7 | This package contains the URDFs and meshes for the robots in the Interbotix X-Series LoCoBot Family. The STL mesh files for each robot are located in a unique folder inside the [meshes](meshes/) directory. Also in the 'meshes' directory is the [interbotix_black.png](meshes/interbotix_black.png) picture. The appearance and texture of the robots come from this picture. Next, the URDFs for the robot are located in the [urdf](urdf/) directory. They are written in 'xacro' format so that users have the ability to customize what parts of the URDF get loaded to the parameter server. 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interbotix_xs_modules 13 | interbotix_common_sim 14 | interbotix_xs_rviz 15 | joint_state_publisher 16 | joint_state_publisher_gui 17 | robot_state_publisher 18 | ign_ros2_control 19 | rviz2 20 | xacro 21 | kobuki_description 22 | irobot_create_description 23 | 24 | ament_lint_auto 25 | ament_lint_common 26 | 27 | 28 | ament_cmake 29 | 30 | 31 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/urdf/arms/ar_tag.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 10 | 12 | 14 | 15 | 16 | 17 | 18 | 21 | 22 | 25 | 26 | 27 | 28 | 29 | 32 | 33 | 36 | 37 | 38 | 39 | 42 | 43 | 50 | 51 | 52 | 53 | 54 | true 55 | 56 | 57 | 58 | Gazebo/DarkGrey 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/urdf/body/battery.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 23 | 24 | 25 | 27 | 28 | 29 | 30 | 33 | 34 | 37 | 38 | 39 | 40 | 43 | 44 | 51 | 52 | 53 | 54 | 55 | Gazebo/Grey 56 | 57 | 58 | 59 | true 60 | 61 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/urdf/body/camera_tower.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 23 | 24 | 25 | 26 | 27 | 30 | 31 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | Gazebo/DarkGrey 41 | 42 | 43 | 44 | true 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/urdf/body/plate.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 23 | 24 | 25 | 26 | 27 | 30 | 31 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | Gazebo/DarkGrey 41 | 42 | 43 | 44 | true 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/description/urdf/colors.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 0.5 0.5 0.5 1 14 | 15 | 16 | 0 0 0 1 17 | 18 | 19 | 0 0 1 1 20 | 21 | 22 | 1 0 0 1 23 | 24 | 25 | 0 1 0 1 26 | 27 | 28 | 1 1 0 1 29 | 30 | 31 | 1 0.5 0 1 32 | 33 | 34 | 0.5 0.5 0.5 1 35 | 0.5 0.5 0.5 1 36 | 37 | 38 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/moveit/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | 5 | default_velocity_scaling_factor: 1.0 6 | default_acceleration_scaling_factor: 1.0 7 | 8 | joint_limits: 9 | waist: 10 | has_velocity_limits: true 11 | max_velocity: 3.14 12 | has_acceleration_limits: true 13 | max_acceleration: 5.0 14 | shoulder: 15 | has_velocity_limits: true 16 | max_velocity: 3.14 17 | has_acceleration_limits: true 18 | max_acceleration: 5.0 19 | elbow: 20 | has_velocity_limits: true 21 | max_velocity: 3.14 22 | has_acceleration_limits: true 23 | max_acceleration: 5.0 24 | forearm_roll: 25 | has_velocity_limits: true 26 | max_velocity: 3.14 27 | has_acceleration_limits: true 28 | max_acceleration: 5.0 29 | wrist_angle: 30 | has_velocity_limits: true 31 | max_velocity: 3.14 32 | has_acceleration_limits: true 33 | max_acceleration: 5.0 34 | wrist_rotate: 35 | has_velocity_limits: true 36 | max_velocity: 3.14 37 | has_acceleration_limits: true 38 | max_acceleration: 5.0 39 | left_finger: 40 | has_velocity_limits: true 41 | max_velocity: 1.0 42 | has_acceleration_limits: true 43 | max_acceleration: 0.01 44 | right_finger: 45 | has_velocity_limits: true 46 | max_velocity: 1.0 47 | has_acceleration_limits: true 48 | max_acceleration: 0.01 49 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/moveit/kinematics.yaml: -------------------------------------------------------------------------------- 1 | move_group: 2 | ros__parameters: 3 | interbotix_arm: 4 | kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 5 | kinematics_solver_search_resolution: 0.005 6 | kinematics_solver_timeout: 0.1 7 | kinematics_solver_attempts: 3 8 | # position_only_ik: true 9 | interbotix_gripper: 10 | kinematics_solver_search_resolution: 0.005 11 | kinematics_solver_timeout: 0.05 12 | kinematics_solver_attempts: 3 13 | # interbotix_gripper: 14 | # kinematics_solver_search_resolution: 0.005 15 | # kinematics_solver_timeout: 0.05 16 | # kinematics_solver_attempts: 3 17 | # kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 18 | # kinematics_solver_search_resolution: 0.001 19 | # kinematics_solver_timeout: 0.1 20 | # position_only_ik: true 21 | 22 | # move_group: 23 | # ros__parameters: 24 | # interbotix_arm: 25 | # kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin 26 | # # optional parameters for caching: 27 | # max_cache_size: 10000 28 | # min_pose_distance: 0.005 29 | # min_joint_config_distance: 0.4 30 | # interbotix_gripper: 31 | # kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin 32 | # # optional parameters for caching: 33 | # max_cache_size: 100 34 | # min_pose_distance: 1.0 35 | # min_joint_config_distance: 0.1 36 | 37 | # move_group: 38 | # ros__parameters: 39 | # interbotix_arm: 40 | # kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 41 | # kinematics_solver_search_resolution: 0.01 42 | # kinematics_solver_timeout: 0.1 43 | # # position_only_ik: true 44 | # interbotix_gripper: 45 | # kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 46 | # kinematics_solver_search_resolution: 0.01 47 | # kinematics_solver_timeout: 0.1 48 | # # position_only_ik: true 49 | 50 | 51 | 52 | 53 | # move_group: 54 | # ros__parameters: 55 | # interbotix_arm: 56 | # kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 57 | # kinematics_solver_search_resolution: 0.01 58 | # kinematics_solver_timeout: 0.005 59 | # position_only_ik: true 60 | # interbotix_gripper: 61 | # kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin 62 | # kinematics_solver_search_resolution: 0.01 63 | # kinematics_solver_timeout: 0.005 64 | # position_only_ik: true 65 | 66 | # move_group: 67 | # ros__parameters: 68 | # interbotix_arm: 69 | # kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin 70 | # # optional parameters for caching: 71 | # max_cache_size: 10000 72 | # min_pose_distance: 1.0 73 | # min_joint_config_distance: 4.0 74 | # interbotix_gripper: 75 | # kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin 76 | # # optional parameters for caching: 77 | # max_cache_size: 10000 78 | # min_pose_distance: 1.0 79 | # min_joint_config_distance: 4.0 80 | 81 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/moveit/modes_all.yaml: -------------------------------------------------------------------------------- 1 | groups: 2 | arm: 3 | operating_mode: position 4 | profile_type: velocity 5 | profile_velocity: 131 6 | profile_acceleration: 15 7 | torque_enable: true 8 | 9 | singles: 10 | gripper: 11 | operating_mode: position 12 | profile_type: velocity 13 | profile_velocity: 131 14 | profile_acceleration: 15 15 | torque_enable: true 16 | 17 | pan: 18 | operating_mode: position 19 | profile_type: velocity 20 | profile_velocity: 131 21 | profile_acceleration: 15 22 | torque_enable: true 23 | 24 | tilt: 25 | operating_mode: position 26 | profile_type: velocity 27 | profile_velocity: 131 28 | profile_acceleration: 15 29 | torque_enable: true 30 | -------------------------------------------------------------------------------- /ros2_agents/robots/locobot_wx250s/moveit/ros_controller_interface.yaml: -------------------------------------------------------------------------------- 1 | controller_names: 2 | - arm_controller 3 | - gripper_controller 4 | - diffdrive_controller 5 | 6 | arm_controller: 7 | action_ns: follow_joint_trajectory 8 | type: FollowJointTrajectory 9 | default: true 10 | joints: 11 | - waist 12 | - shoulder 13 | - elbow 14 | - forearm_roll 15 | - wrist_angle 16 | - wrist_rotate 17 | 18 | gripper_controller: 19 | action_ns: follow_joint_trajectory 20 | type: FollowJointTrajectory 21 | default: true 22 | joints: 23 | - left_finger 24 | - right_finger 25 | 26 | diffdrive_controller: 27 | action_ns: follow_joint_trajectory 28 | type: FollowJointTrajectory 29 | default: true 30 | joints: 31 | - wheel_left_joint 32 | - wheel_right_joint -------------------------------------------------------------------------------- /ros2_agents/sim/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/.DS_Store -------------------------------------------------------------------------------- /ros2_agents/sim/object_descriptions/meshes/camera/kinect.jpg: -------------------------------------------------------------------------------- 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None 2 | Ns 500 3 | Ka 0.8 0.8 0.8 4 | Kd 0.8 0.8 0.8 5 | Ks 0.8 0.8 0.8 6 | d 1 7 | illum 2 8 | 9 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/FemaleVisitorSit/meshes/FemaleVisitorSit_Col.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.80 (sub 75) OBJ File: 'FemaleVisitorSit.blend' 2 | # www.blender.org 3 | mtllib FemaleVisitorSit_Col.mtl 4 | o Cube_Cube.001 5 | v -0.170804 -0.367083 0.423384 6 | v -0.170804 -0.205775 1.225038 7 | v -0.170804 0.139554 0.423384 8 | v -0.170804 0.139554 1.231902 9 | v 0.170804 -0.367083 0.423384 10 | v 0.170804 -0.205775 1.225038 11 | v 0.170804 0.139554 0.423384 12 | v 0.170804 0.139554 1.231902 13 | v -0.170804 -0.274579 0.423384 14 | v 0.170804 -0.274579 0.423384 15 | v -0.170804 -0.300892 0.049285 16 | v -0.170804 -0.506656 0.001236 17 | v 0.170804 -0.506656 0.001236 18 | v 0.170804 -0.300892 0.049285 19 | vt 0.375000 0.045646 20 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model.sdf 6 | 7 | 8 | Wan Yi Seow 9 | wanyi@openrobotics.org 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/FemaleVisitorSit/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 0 0 0 0 7 | 8 | 9 | 10 | 11 | model://FemaleVisitorSit/meshes/FemaleVisitorSit.obj 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | model://FemaleVisitorSit/meshes/FemaleVisitorSit_Col.obj 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/FemaleVisitorSit/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/FemaleVisitorSit/thumbnails/1.png 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0.000000 10 | Ni 1.450000 11 | d 1.000000 12 | illum 2 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/LampAndStand/meshes/LampAndStand_Col.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.90.0 OBJ File: '' 2 | # www.blender.org 3 | mtllib LampAndStand_Col.mtl 4 | o LampAndStand_Col 5 | v -0.312076 0.312076 1.019779 6 | v -0.312076 0.312076 0.000000 7 | v 0.312076 0.312076 1.019779 8 | v 0.312076 0.312076 0.000000 9 | v -0.312076 -0.312076 1.019779 10 | v -0.312076 -0.312076 0.000000 11 | v 0.312076 -0.312076 1.019779 12 | v 0.312076 -0.312076 0.000000 13 | vt 0.625000 0.500000 14 | vt 0.875000 0.500000 15 | vt 0.875000 0.750000 16 | vt 0.625000 0.750000 17 | vt 0.375000 0.750000 18 | vt 0.625000 1.000000 19 | vt 0.375000 1.000000 20 | vt 0.375000 0.000000 21 | vt 0.625000 0.000000 22 | vt 0.625000 0.250000 23 | vt 0.375000 0.250000 24 | vt 0.125000 0.500000 25 | vt 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-------------------------------------------------------------------------------- 1 | 2 | 3 | LampAndStand 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Roselle Carmen 9 | rosellec@openrobotics.org 10 | 11 | 12 | 13 | A lamp on a table 14 | 15 | 16 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/LampAndStand/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 0 0 0 0 7 | 8 | 9 | 10 | 11 | model://LampAndStand/meshes/LampAndStand.obj 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | model://LampAndStand/meshes/LampAndStand_Col.obj 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/LampAndStand/thumbnails/1.png: -------------------------------------------------------------------------------- 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Blender MTL File: 'MaleVisitorSit.blend' 2 | # Material Count: 2 3 | 4 | newmtl MaleVisitor.003 5 | Ns 0.000000 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.500000 0.500000 0.500000 9 | Ke 0.0 0.0 0.0 10 | Ni 1.450000 11 | d 1.000000 12 | illum 2 13 | map_Kd MaleVisitorSit.png 14 | 15 | newmtl Phone.001 16 | Ns 225.000000 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.800000 0.800000 0.800000 19 | Ks 0.500000 0.500000 0.500000 20 | Ke 0.0 0.0 0.0 21 | Ni 1.450000 22 | d 1.000000 23 | illum 2 24 | map_Kd Phone.png 25 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/meshes/MaleVisitorSit.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/MaleVisitorSit/meshes/MaleVisitorSit.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/meshes/MaleVisitorSit_Col.mtl: -------------------------------------------------------------------------------- 1 | newmtl None 2 | Ns 500 3 | Ka 0.8 0.8 0.8 4 | Kd 0.8 0.8 0.8 5 | Ks 0.8 0.8 0.8 6 | d 1 7 | illum 2 8 | 9 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/meshes/MaleVisitorSit_Col.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.80 (sub 75) OBJ File: 'MaleVisitorSit.blend' 2 | # www.blender.org 3 | mtllib MaleVisitorSit_Col.mtl 4 | o MaleVisitorSit_Col 5 | v -0.235782 -0.413324 0.423667 6 | v -0.235782 -0.398451 1.298151 7 | v -0.235782 0.151754 0.429387 8 | v -0.235782 0.151754 1.298151 9 | v 0.235782 -0.413324 0.423667 10 | v 0.235782 -0.398451 1.298151 11 | v 0.235782 0.151754 0.429387 12 | v 0.235782 0.151754 1.298151 13 | v -0.235782 -0.280196 0.425014 14 | v 0.235782 -0.280196 0.425014 15 | v -0.235782 -0.245037 0.003193 16 | v -0.235782 -0.605831 0.001845 17 | v 0.235782 -0.605831 0.001845 18 | v 0.235782 -0.245037 0.003193 19 | vt 0.375000 0.058898 20 | vt 0.625000 0.058898 21 | vt 0.625000 0.250000 22 | vt 0.375000 0.250000 23 | vt 0.625000 0.500000 24 | vt 0.375000 0.500000 25 | vt 0.375000 0.691102 26 | vt 0.625000 0.750000 27 | vt 0.375000 0.750000 28 | vt 0.625000 1.000000 29 | vt 0.375000 1.000000 30 | vt 0.375000 0.750000 31 | vt 0.375000 0.691102 32 | vt 0.875000 0.500000 33 | vt 0.875000 0.691102 34 | vt 0.625000 0.691102 35 | vt 0.125000 0.500000 36 | vt 0.125000 0.691102 37 | vt 0.375000 0.000000 38 | vt 0.125000 0.691102 39 | vt 0.125000 0.750000 40 | vt 0.375000 1.000000 41 | vt 0.375000 0.058898 42 | vt 0.375000 0.000000 43 | vn -1.0000 0.0000 0.0000 44 | vn 0.0000 1.0000 0.0000 45 | vn 1.0000 0.0000 0.0000 46 | vn 0.0000 -0.9999 0.0170 47 | vn 0.0000 0.0000 1.0000 48 | vn 0.0000 0.0101 -0.9999 49 | vn 0.0000 0.0037 -1.0000 50 | vn 0.0000 -0.9097 0.4152 51 | vn 0.0000 0.9965 0.0831 52 | usemtl None 53 | s off 54 | f 9/1/1 2/2/1 4/3/1 3/4/1 55 | f 3/4/2 4/3/2 8/5/2 7/6/2 56 | f 10/7/3 6/8/3 5/9/3 57 | f 5/9/4 6/8/4 2/10/4 1/11/4 58 | f 10/7/3 5/9/3 13/12/3 14/13/3 59 | f 8/5/5 4/14/5 2/15/5 6/16/5 60 | f 3/17/6 7/6/6 10/7/6 9/18/6 61 | f 7/6/3 8/5/3 6/16/3 10/7/3 62 | f 1/19/1 2/2/1 9/1/1 63 | f 11/20/7 14/13/7 13/12/7 12/21/7 64 | f 5/9/8 1/11/8 12/22/8 13/12/8 65 | f 9/18/9 10/7/9 14/13/9 11/20/9 66 | f 1/19/1 9/1/1 11/23/1 12/24/1 67 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/meshes/Phone.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/MaleVisitorSit/meshes/Phone.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MaleVisitorSit 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Wan Yi Seow 9 | wanyi@openrobotics.org 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 0 0 0 0 7 | 8 | 9 | 10 | 11 | model://MaleVisitorSit/meshes/MaleVisitorSit.obj 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | model://MaleVisitorSit/meshes/MaleVisitorSit_Col.obj 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MaleVisitorSit/thumbnails/1.png: 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-------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MiniSofa/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MiniSofa 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Wan Yi 9 | wanyi@osrfoundation.org 10 | 11 | 12 | 13 | a terrible sofa 14 | 15 | 16 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MiniSofa/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0 0 0 0 0 -1.57079632679 7 | 8 | 9 | 10 | 11 | model://MiniSofa/meshes/minisofa.obj 12 | 1.00 1.00 1.00 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | model://MiniSofa/meshes/minisofa.obj 21 | 1.00 1.00 1.00 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/MiniSofa/thumbnails/1.png: 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Material Count: 1 3 | 4 | newmtl Sofa 5 | Ns 274.233586 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.000000 0.000000 0.000000 9 | Ke 0.0 0.0 0.0 10 | Ni 1.450000 11 | d 1.000000 12 | illum 1 13 | map_Kd SofaDiffuse.png 14 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/Sofa/meshes/SofaDiffuse.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/Sofa/meshes/SofaDiffuse.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/Sofa/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Sofa 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Wan Yi Seow 10 | wanyi@openrobotics.org 11 | 12 | 13 | 14 | A grey comfortable sofa 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/Sofa/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 0 0 0 0 1.57079632679 6 | 7 | 8 | 9 | model://Sofa/meshes/Sofa.obj 10 | 11 | 12 | 13 | 14 | 15 | model://Sofa/meshes/Sofa.obj 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/Sofa/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/Sofa/thumbnails/1.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/Sofa/thumbnails/2.png: -------------------------------------------------------------------------------- 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Attribution 4.0 4 | # International License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TEA_SET/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "TEA_SET" 5 | description: "TEA SET\nHave tea-time with friends. Includes two place settings - teapot, sugar bowl, milk pitcher, 2 tea cups, 2 saucers, 2 tea spoons, ?2 tea bags, and 2 cubes of sugar." 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "PlanToys" 18 | } 19 | annotations { 20 | key: "mpn" 21 | value: "3604" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "03604P01" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | first: "Toys" 35 | } 36 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TEA_SET/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | TEA_SET 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | TEA SET 18 | Have tea-time with friends. Includes two place settings - teapot, sugar bowl, milk pitcher, 2 tea cups, 2 saucers, 2 tea spoons, ?2 tea bags, and 2 cubes of sugar. 19 | 20 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TEA_SET/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | meshes/model.obj 17 | 18 | 19 | 20 | 21 | 22 | 23 | meshes/model.obj 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TEA_SET/thumbnails/0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/TEA_SET/thumbnails/0.jpg -------------------------------------------------------------------------------- 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12 | illum 2 13 | map_Kd TVStand_Diffuse.png 14 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TVStand/meshes/TVStand_Col.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'col.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 500 6 | Ka 0.8 0.8 0.8 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TVStand/meshes/TVStand_Col.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.80 (sub 75) OBJ File: 'col.blend' 2 | # www.blender.org 3 | mtllib TVStand_Col.mtl 4 | o Cube 5 | v -0.800000 -0.227312 -0.000003 6 | v -0.800000 -0.227312 0.450000 7 | v -0.800000 0.210000 -0.000003 8 | v -0.800000 0.210000 0.450000 9 | v 0.800000 -0.227312 -0.000003 10 | v 0.800000 -0.227312 0.450000 11 | v 0.800000 0.210000 -0.000003 12 | v 0.800000 0.210000 0.450000 13 | vt 0.375000 0.000000 14 | vt 0.625000 0.000000 15 | vt 0.625000 0.250000 16 | vt 0.375000 0.250000 17 | vt 0.625000 0.500000 18 | vt 0.375000 0.500000 19 | vt 0.625000 0.750000 20 | vt 0.375000 0.750000 21 | vt 0.625000 1.000000 22 | vt 0.375000 1.000000 23 | vt 0.125000 0.500000 24 | vt 0.125000 0.750000 25 | vt 0.875000 0.500000 26 | vt 0.875000 0.750000 27 | vn -1.0000 0.0000 0.0000 28 | vn 0.0000 1.0000 0.0000 29 | vn 1.0000 0.0000 0.0000 30 | vn 0.0000 -1.0000 0.0000 31 | vn 0.0000 0.0000 -1.0000 32 | vn 0.0000 0.0000 1.0000 33 | usemtl None 34 | s off 35 | f 1/1/1 2/2/1 4/3/1 3/4/1 36 | f 3/4/2 4/3/2 8/5/2 7/6/2 37 | f 7/6/3 8/5/3 6/7/3 5/8/3 38 | f 5/8/4 6/7/4 2/9/4 1/10/4 39 | f 3/11/5 7/6/5 5/8/5 1/12/5 40 | f 8/5/6 4/13/6 2/14/6 6/7/6 41 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/TVStand/meshes/TVStand_Diffuse.png: 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To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/big_spoon/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "Threshold_Porcelain_Spoon_Rest_White" 5 | description: "Threshold Porcelain Spoon Rest, White" 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "Threshold" 18 | } 19 | annotations { 20 | key: "gtin" 21 | value: "00727870088944" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "00727870088944" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | first: "Bottles and Cans and Cups" 35 | } 36 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/big_spoon/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | Threshold_Porcelain_Spoon_Rest_White 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | Threshold Porcelain Spoon Rest, White 18 | 19 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/big_spoon/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | model://big_spoon/meshes/model.obj 17 | 0.5 0.5 0.5 18 | 19 | 20 | 21 | 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model-1_2.sdf 7 | model-1_3.sdf 8 | model-1_4.sdf 9 | model.sdf 10 | 11 | 12 | John Hsu 13 | hsu@osrfoundation.org 14 | 15 | 16 | 17 | A can of Coke. 18 | 19 | 20 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/coke_can/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 0.00390 8 | 9 | 0.00058 10 | 0 11 | 0 12 | 0.00058 13 | 0 14 | 0.00019 15 | 16 | 17 | 18 | 19 | 20 | 21 | model://coke_can/meshes/coke_can.dae 22 | 0.25 0.25 0.25 23 | 24 | 25 | 26 | 100 27 | 100 28 | 1000000.0 29 | 100000.0 30 | 0 31 | 0 32 | 0.001 33 | 0 34 | 35 | 36 | 1000 37 | 0 38 | 39 | 40 | 41 | 42 | 43 | 44 | 100.0 45 | 100.0 46 | 47 | 48 | 49 | 100 50 | 100 51 | 1000000.0 52 | 100000.0 53 | 0 54 | 0 55 | 56 | 0 57 | 58 | 59 | 1000 60 | 0 61 | 62 | 63 | 64 | 100 65 | 100 66 | 1000000.0 67 | 100000.0 68 | 0 69 | 0 70 | 0.001 71 | 0 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 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License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/green_bowl/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "Ecoforms_Plant_Bowl_Turquoise_7" 5 | description: "Ecoforms Plant Bowl, Turquoise, 7\"" 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "Ecoforms" 18 | } 19 | annotations { 20 | key: "gtin" 21 | value: "00755866660652" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "00755866660652" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | } 35 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/green_bowl/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | Ecoforms_Plant_Bowl_Turquoise_7 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | Ecoforms Plant Bowl, Turquoise, 7" 18 | 19 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/green_bowl/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | model://green_bowl/meshes/model.obj 17 | 0.8 0.8 0.8 18 | 19 | 20 | 21 | 0 1 0 1 22 | 25 | 26 | 27 | 28 | 29 | 30 | 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-------------------------------------------------------------------------------- 1 | # Copyright 2020 Google LLC. 2 | # 3 | # This work is licensed under the Creative Commons Attribution 4.0 4 | # International License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/red_bowl/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "Bradshaw_International_11642_7_Qt_MP_Plastic_Bowl" 5 | description: "Bradshaw International 11642 7 Qt MP Plastic Bowl\n\"Good Cook - Assorted Colors.\"" 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "Bradshaw International" 18 | } 19 | annotations { 20 | key: "gtin" 21 | value: "00076753116428" 22 | } 23 | annotations { 24 | key: "mpn" 25 | value: "11642" 26 | } 27 | annotations { 28 | key: "sku" 29 | value: "9091050_20130419_520020367" 30 | } 31 | compatibilities { 32 | name: "Gazebo" 33 | version { 34 | major: 11 35 | } 36 | } 37 | categories { 38 | } 39 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/red_bowl/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | Bradshaw_International_11642_7_Qt_MP_Plastic_Bowl 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | Bradshaw International 11642 7 Qt MP Plastic Bowl 18 | "Good Cook - Assorted Colors." 19 | 20 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/red_bowl/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | model://red_bowl/meshes/model.obj 17 | 18 | 19 | 20 | 1 0 0 1 21 | 24 | 25 | 26 | 27 | 28 | 29 | model://red_bowl/meshes/model.obj 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/red_bowl/thumbnails/0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/red_bowl/thumbnails/0.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/red_bowl/thumbnails/1.jpg: -------------------------------------------------------------------------------- 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texture wall_texture_1404x562.jpg 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/room_wall_2x5m/material/textures/wall_texture_1404x562.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/room_wall_2x5m/material/textures/wall_texture_1404x562.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/room_wall_2x5m/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | room_wall_2x5m 4 | 1.0 5 | model.sdf 6 | 7 | Ilia O. 8 | iliao@kaia.ai 9 | 10 | A 2m by 5m drywall-textured room wall 11 | 12 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/room_wall_2x5m/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.1 5.0 2.0 9 | 10 | 11 | 12 | 17 | 18 | 19 | 20 | 21 | 22 | 0.1 5.0 2.0 23 | 24 | 25 | 26 | 27 | 1 28 | 1 29 | 30 | 31 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/room_wall_2x5m/thumbnails/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/room_wall_2x5m/thumbnails/1.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/rug_ivory_2m/material/script/rug_ivory_2m.material: -------------------------------------------------------------------------------- 1 | material Custom/rug_ivory_2m 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture rug_ivory_469x588.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/rug_ivory_2m/material/textures/rug_ivory_469x588.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/rug_ivory_2m/material/textures/rug_ivory_469x588.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/rug_ivory_2m/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | rug_ivory_2m 4 | 1.0 5 | model.sdf 6 | 7 | Ilia O. 8 | iliao@makerspet.com 9 | 10 | A ivory-textured floor rug 11 | 12 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/rug_ivory_2m/model.sdf: 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-------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/meshes/model.mtl: -------------------------------------------------------------------------------- 1 | # Copyright 2020 Google LLC. 2 | # 3 | # This work is licensed under the Creative Commons Attribution 4.0 4 | # International License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "Threshold_Porcelain_Serving_Bowl_Coupe_White" 5 | description: "Threshold Porcelain Serving Bowl, Coupe, White" 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "Threshold" 18 | } 19 | annotations { 20 | key: "gtin" 21 | value: "00492000107955" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "00492000107955" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | } 35 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | Threshold_Porcelain_Serving_Bowl_Coupe_White 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | Threshold Porcelain Serving Bowl, Coupe, White 18 | 19 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | model://serving_bowl/meshes/model.obj 17 | 18 | 19 | 20 | 1 1 1 1 21 | 24 | 25 | 26 | 27 | 28 | 29 | model://serving_bowl/meshes/model.obj 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/thumbnails/0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/serving_bowl/thumbnails/0.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/thumbnails/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/serving_bowl/thumbnails/1.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/thumbnails/2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/serving_bowl/thumbnails/2.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/thumbnails/3.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/serving_bowl/thumbnails/3.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/serving_bowl/thumbnails/4.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/serving_bowl/thumbnails/4.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/materials/textures/texture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/materials/textures/texture.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/meshes/model.mtl: -------------------------------------------------------------------------------- 1 | # Copyright 2020 Google LLC. 2 | # 3 | # This work is licensed under the Creative Commons Attribution 4.0 4 | # International License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "TABLEWARE_SET_5CHkPjjxVpp" 5 | description: "TABLEWARE SET\nSet the table with this colorful kid-sized tableware. Includes two place settings - 2 plates, 2 bowls, 2 cups, 2 forks, 2 knives, and 2 spoons." 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "PlanToys" 18 | } 19 | annotations { 20 | key: "mpn" 21 | value: "3605" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "03605P00" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | first: "Toys" 35 | } 36 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | TABLEWARE_SET_5CHkPjjxVpp 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | TABLEWARE SET 18 | Set the table with this colorful kid-sized tableware. Includes two place settings - 2 plates, 2 bowls, 2 cups, 2 forks, 2 knives, and 2 spoons. 19 | 20 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | meshes/model.obj 17 | 18 | 19 | 20 | 21 | 22 | 23 | meshes/model.obj 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/thumbnails/0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/thumbnails/0.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/thumbnails/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/thumbnails/1.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/thumbnails/2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/thumbnails/2.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/thumbnails/3.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/thumbnails/3.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tableware_set/thumbnails/4.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tableware_set/thumbnails/4.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tea_pot/materials/textures/texture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tea_pot/materials/textures/texture.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tea_pot/meshes/model.mtl: -------------------------------------------------------------------------------- 1 | # Copyright 2020 Google LLC. 2 | # 3 | # This work is licensed under the Creative Commons Attribution 4.0 4 | # International License. To view a copy of this license, visit 5 | # http://creativecommons.org/licenses/by/4.0/ or send a letter 6 | # to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. 7 | newmtl material_0 8 | # shader_type beckmann 9 | map_Kd texture.png 10 | 11 | # Kd: Diffuse reflectivity. 12 | Kd 1.000000 1.000000 1.000000 13 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tea_pot/metadata.pbtxt: -------------------------------------------------------------------------------- 1 | model { 2 | file: "model.sdf" 3 | } 4 | name: "Threshold_Porcelain_Teapot_White" 5 | description: "Threshold Porcelain Teapot, White" 6 | version: 1 7 | authors { 8 | name: "Google" 9 | email: "scanned-objects@google.com" 10 | } 11 | legal { 12 | copyright: "Copyright 2020 Google LLC." 13 | license: "Creative Commons Attribution 4.0 International" 14 | } 15 | annotations { 16 | key: "brand" 17 | value: "Threshold" 18 | } 19 | annotations { 20 | key: "gtin" 21 | value: "00727870053911" 22 | } 23 | annotations { 24 | key: "sku" 25 | value: "00727870053911" 26 | } 27 | compatibilities { 28 | name: "Gazebo" 29 | version { 30 | major: 11 31 | } 32 | } 33 | categories { 34 | } 35 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tea_pot/model.config: -------------------------------------------------------------------------------- 1 | 9 | 10 | Threshold_Porcelain_Teapot_White 11 | 12 | Google 13 | scanned-objects@google.com 14 | 15 | 1.0 16 | model.sdf 17 | Threshold Porcelain Teapot, White 18 | 19 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tea_pot/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | meshes/model.obj 17 | 18 | 19 | 20 | 21 | 22 | 23 | meshes/model.obj 24 | 25 | 26 | 27 | 28 | 29 | 30 | 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/ros2_agents/sim/third_party/tv_65in/material/script/tv.material: -------------------------------------------------------------------------------- 1 | material Custom/tv 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture tv.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in/material/textures/tv.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tv_65in/material/textures/tv.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | tv_65in 4 | 1.0 5 | model.sdf 6 | 7 | Ilia O. 8 | iliao@makerspet.com 9 | 10 | A 65-inch wall-mounted TV 11 | 12 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.05 1.45 0.83 9 | 10 | 11 | 12 | 17 | 18 | 19 | 20 | 1 21 | 1 22 | 23 | 24 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tv_65in/thumbnails/1.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive 2/material/script/tv_emissive.material: -------------------------------------------------------------------------------- 1 | material Custom/tv_emissive 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | lighting off 8 | 9 | ambient 1 1 1 1 10 | diffuse 1 1 1 1 11 | specular 0 0 0 0 12 | emissive 0 0 0 13 | 14 | scene_blend alpha_blend 15 | depth_write off 16 | 17 | texture_unit 18 | { 19 | texture tv_65in_maldives_909x541.jpg 20 | tex_coord_set 0 21 | colour_op modulate 22 | } 23 | } 24 | } 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive 2/material/textures/tv_65in_maldives_909x541.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tv_65in_emissive 2/material/textures/tv_65in_maldives_909x541.jpg -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive 2/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | tv_65in_emissive 4 | 1.0 5 | model.sdf 6 | 7 | Ilia O. 8 | iliao@makerspet.com 9 | 10 | A 65-inch powered-on bright (emissive) wall-mounted TV 11 | 12 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive 2/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.05 1.45 0.83 9 | 10 | 11 | 12 | 17 | 18 | 19 | 20 | 1 21 | 1 22 | 23 | 24 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive 2/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/tv_65in_emissive 2/thumbnails/1.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive/material/script/tv_emissive.material: -------------------------------------------------------------------------------- 1 | material Custom/tv_emissive 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | lighting off 8 | 9 | ambient 1 1 1 1 10 | diffuse 1 1 1 1 11 | specular 0 0 0 0 12 | emissive 0 0 0 13 | 14 | scene_blend alpha_blend 15 | depth_write off 16 | 17 | texture_unit 18 | { 19 | texture tv_65in_maldives_909x541.jpg 20 | tex_coord_set 0 21 | colour_op modulate 22 | } 23 | } 24 | } 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/tv_65in_emissive/material/textures/tv_65in_maldives_909x541.jpg: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.02 1.5676 2 9 | 10 | 11 | 12 | 17 | 0 1 0 1 18 | 19 | 20 | 21 | 1 22 | 1 23 | 24 | 25 | -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/window_curtains/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/window_curtains/thumbnails/1.png -------------------------------------------------------------------------------- /ros2_agents/sim/third_party/worlds/industrial-warehouse/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/worlds/industrial-warehouse/thumbnails/1.png 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https://raw.githubusercontent.com/sebbyjp/ros2_transformers/2f32fcbd283b6eaa13e4b42cc8c55c3c7ac15e9b/ros2_agents/sim/third_party/worlds/living_room/thumbnails/1.png -------------------------------------------------------------------------------- /ros2_agents/src/demo_app.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | namespace chrono = std::chrono; 8 | 9 | using ros2_agents_interfaces::action::Mbodied; 10 | 11 | // C++ 20 convenience for legacy CXX compilers. 12 | #define TIME_DIFF(tic, \ 13 | toc) static_cast(chrono::duration_cast(toc - \ 14 | tic).count()) 15 | #define CLAMP(x, xmin, xmax) std::max(xmin, std::min(xmax, x)) 16 | 17 | 18 | int main(int argc, char **argv) 19 | { 20 | rclcpp::init(argc, argv); 21 | rclcpp::NodeOptions options; 22 | auto agent_client_node = std::make_shared >(options); 23 | 24 | // Spin in the background for planning scene to work. 25 | rclcpp::executors::MultiThreadedExecutor executor; 26 | 27 | /* *INDENT-OFF* */ 28 | executor.add_node(agent_client_node); 29 | std::thread([&executor]() {executor.spin();}).detach(); 30 | /* *INDENT-ON* */ 31 | agent_client_node->init(); 32 | 33 | for (int i = 0; i < agent_client_node->get_param("num_iterations"); ++i) 34 | { 35 | if (!rclcpp::ok()) 36 | { 37 | break; 38 | } 39 | RCLCPP_INFO(agent_client_node->get_logger(), "*** Iteration %i", i); 40 | const auto tic = chrono::steady_clock::now(); 41 | agent_client_node->act(); 42 | const auto toc = chrono::steady_clock::now(); 43 | RCLCPP_INFO(agent_client_node->get_logger(), "Action took %i ms", TIME_DIFF(tic, toc)); 44 | std::this_thread::sleep_for(chrono::milliseconds(agent_client_node->get_param("sleep_ms"))); 45 | } 46 | rclcpp::shutdown(); 47 | return 0; 48 | } 49 | -------------------------------------------------------------------------------- /ros2_agents/tasks/cluttered.yaml: -------------------------------------------------------------------------------- 1 | - spawn: true 2 | name: coke_can 3 | path: sim/third_party/coke_can/model.sdf 4 | count: 1 5 | colors: [black] 6 | lwh: [0,0,0] 7 | poses: # x, y, z, roll, pitch, yaw 8 | - [0.45, -0.1, 0.1, 0, 0, 0] 9 | # - [0.53, 0, 0.25, 0, 0, 0] 10 | 11 | # - spawn: true 12 | # name: mustard_bottle2 13 | # path: sim/third_party/mustard_bottle2/model.sdf 14 | # count: 1 15 | # colors: [black] 16 | # lwh: [0,0,0] 17 | # poses: # x, y, z, roll, pitch, yaw 18 | # - [0.75, -0.15, 0.2, 0, 0, 0] 19 | 20 | 21 | - spawn: true 22 | name: big_spoon 23 | path: sim/third_party/big_spoon/model.sdf 24 | count: 1 25 | colors: [black] 26 | lwh: [0,0,0] 27 | poses: # x, y, z, roll, pitch, yaw 28 | - [0.5, 0, 0.25, 0, 0, 0] 29 | # - [0.58, -0.12, 0.25, 0, 0, 0] 30 | 31 | - spawn: true 32 | name: table 33 | path: sim/third_party/TestBox/model.sdf 34 | count: 1 35 | lwh: [0.4, 0.5, 0.2] 36 | poses: 37 | - [0.6, 0,0, 0, 0, 0] 38 | colors: [brown] -------------------------------------------------------------------------------- /ros2_agents/tasks/living_tea.yaml: -------------------------------------------------------------------------------- 1 | - spawn: true 2 | name: coke_can 3 | path: sim/third_party/coke_can/model.sdf 4 | count: 1 5 | colors: [black] 6 | lwh: [0,0,0] 7 | poses: # x, y, z, roll, pitch, yaw 8 | - [0.45, -0.1, 0.1, 0, 0, 0] 9 | # - [0.53, 0, 0.25, 0, 0, 0] 10 | 11 | # - spawn: true 12 | # name: mustard_bottle2 13 | # path: sim/third_party/mustard_bottle2/model.sdf 14 | # count: 1 15 | # colors: [black] 16 | # lwh: [0,0,0] 17 | # poses: # x, y, z, roll, pitch, yaw 18 | # - [0.75, -0.15, 0.2, 0, 0, 0] 19 | 20 | 21 | - spawn: true 22 | name: big_spoon 23 | path: sim/third_party/big_spoon/model.sdf 24 | count: 1 25 | colors: [black] 26 | lwh: [0,0,0] 27 | poses: # x, y, z, roll, pitch, yaw 28 | - [0.5, 0, 0.25, 0, 0, 0] 29 | # - [0.58, -0.12, 0.25, 0, 0, 0] 30 | 31 | # - spawn: true 32 | # name: living_room 33 | # path: sim/third_party/worlds/living_room/living_room.sdf 34 | # count: 1 35 | # lwh: [0.4, 0.5, 0.2] 36 | # poses: 37 | # - [0.6, 0,0, 0, 0, 0] 38 | # colors: [brown] -------------------------------------------------------------------------------- /ros2_agents/tasks/pick_coke_can.yaml: -------------------------------------------------------------------------------- 1 | - spawn: true 2 | name: coke_can 3 | path: sim/third_party/coke_can/model.sdf 4 | count: 1 5 | colors: [black] 6 | lwh: [0,0,0] 7 | poses: # x, y, z, roll, pitch, yaw 8 | - [0.53, -0.1, 0.25, 0, 0, 0] 9 | 10 | - spawn: true 11 | name: table 12 | path: sim/third_party/TestBox/model.sdf 13 | count: 1 14 | lwh: [0.4, 0.5, 0.2] 15 | poses: 16 | - [0.68, 0,0.1, 0, 0, 0] 17 | colors: [brown] -------------------------------------------------------------------------------- /ros2_agents/tasks/pick_coke_can_high_fidelity.yaml: -------------------------------------------------------------------------------- 1 | - spawn: true 2 | name: coke_can 3 | path: sim/third_party/coke_can/model.sdf 4 | count: 1 5 | colors: [black] 6 | lwh: [0,0,0] 7 | poses: # x, y, z, roll, pitch, yaw 8 | - [0.47, -0.1, 1.0, 0, 0, 0] 9 | 10 | - spawn: true 11 | name: table 12 | path: sim/third_party/Table/model.sdf 13 | count: 1 14 | lwh: [0.4, 0.5, 0.2] 15 | poses: 16 | - [1.15, 0,0.1, 0, 0, 0] 17 | colors: [grey] 18 | 19 | - spawn: true 20 | name: platform 21 | path: sim/object_descriptions/urdf/objects/table.urdf.xacro 22 | count: 1 23 | lwh: [0.4, 0.5, 0.9] 24 | poses: 25 | - [0, 0,0.4, 0, 0, 0] 26 | colors: [grey] 27 | 28 | - spawn: true 29 | name: cafe 30 | path: sim/third_party/Cafe/model.sdf 31 | count: 1 32 | lwh: [10, 10, 2] 33 | poses: 34 | - [0, 0, 0, 0, 0, 0] 35 | colors: [grey] -------------------------------------------------------------------------------- /ros2_agents/tasks/stack_blocks.yaml: -------------------------------------------------------------------------------- 1 | - spawn: true 2 | name: block 3 | path: sim/object_descriptions/urdf/objects/block.urdf.xacro 4 | count: 3 5 | stacked: true 6 | colors: ["red", "green", "blue"] 7 | lwh: [0.0254, 0.0254, 0.0254] 8 | poses: # x, y, z, roll, pitch, yaw 9 | - [0.45, 0.2, 0.2513, 0, 0, 0] 10 | - [0.45, -0.2, 0.2513, 0, 0, 0] 11 | - [0.45, 0, 0.2513, 0, 0, 0] 12 | 13 | - spawn: true 14 | name: table 15 | path: sim/object_descriptions/urdf/objects/table.urdf.xacro 16 | count: 1 17 | lwh: [0.4, 0.5, 0.2] 18 | poses: 19 | - [0.4, 0,0.1, 0, 0, 0] 20 | colors: [black] -------------------------------------------------------------------------------- /ros2_agents_interfaces/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(ros2_agents_interfaces) 3 | 4 | if(NOT CMAKE_C_STANDARD) 5 | set(CMAKE_C_STANDARD 99) 6 | endif() 7 | 8 | if(NOT CMAKE_CXX_STANDARD) 9 | set(CMAKE_CXX_STANDARD 17) 10 | endif() 11 | 12 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 13 | add_compile_options(-Wall -Wextra -Wpedantic) 14 | endif() 15 | 16 | find_package(rosidl_default_generators REQUIRED) 17 | find_package(geometry_msgs REQUIRED) 18 | 19 | set(message_files "msg/BaseControl.msg" "msg/EEFControl.msg" 20 | "msg/MbodiedBasicControl.msg") 21 | 22 | set(action_files "action/SampleGraspPoses.action" "action/Mbodied.action" 23 | DEPENDENCIES) 24 | 25 | rosidl_generate_interfaces(${PROJECT_NAME} ${message_files} ${action_files} 26 | DEPENDENCIES geometry_msgs) 27 | 28 | ament_export_dependencies(rosidl_default_runtime) 29 | ament_package() 30 | -------------------------------------------------------------------------------- /ros2_agents_interfaces/action/Mbodied.action: -------------------------------------------------------------------------------- 1 | # Instruction for the agent. 2 | string instruction 3 | --- 4 | # Result status of grasp planning. 5 | string grasp_state 6 | --- 7 | # Feedback sent to application 8 | ros2_agents_interfaces/MbodiedBasicControl[] actions 9 | 10 | -------------------------------------------------------------------------------- /ros2_agents_interfaces/action/SampleGraspPoses.action: -------------------------------------------------------------------------------- 1 | # goal sent to agent server (The request) 2 | string action_name 3 | --- 4 | # result sent to app client (The response status) 5 | string grasp_state 6 | --- 7 | # feedback sent to server (The response data) 8 | # grasp poses 9 | geometry_msgs/PoseStamped[] grasp_candidates 10 | # cost of each grasp 11 | float64[] costs -------------------------------------------------------------------------------- /ros2_agents_interfaces/msg/BaseControl.msg: -------------------------------------------------------------------------------- 1 | uint8 ABSOLUTE=0 2 | uint8 RELATIVE=1 3 | uint8 VELOCITY=2 4 | uint8 EFFORT=3 5 | 6 | float64 x 7 | float64 y 8 | float64 yaw # vertical rotation of forward vector of base 9 | uint8 control_type 1 -------------------------------------------------------------------------------- /ros2_agents_interfaces/msg/EEFControl.msg: -------------------------------------------------------------------------------- 1 | uint8 ABSOLUTE=0 2 | uint8 RELATIVE=1 3 | uint8 VELOCITY=2 4 | uint8 EFFORT=3 5 | 6 | 7 | string frame_id "world" 8 | float64 grasp # 0.0 is open, 1.0 is closed 9 | float64 x 10 | float64 y 11 | float64 z 12 | float64 roll 13 | float64 pitch 14 | float64 yaw 15 | uint8 control_type 1 -------------------------------------------------------------------------------- /ros2_agents_interfaces/msg/MbodiedBasicControl.msg: -------------------------------------------------------------------------------- 1 | ros2_agents_interfaces/BaseControl base 2 | ros2_agents_interfaces/EEFControl left_hand 3 | ros2_agents_interfaces/EEFControl right_hand 4 | float64 tilt 5 | float64 pan -------------------------------------------------------------------------------- /ros2_agents_interfaces/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ros2_agents_interfaces 4 | 0.0.1 5 | Messages to represent embodied actions for use by ROS2 clients. 6 | Sebastian Peralta 7 | BSD 8 | ament_cmake 9 | 10 | rclcpp 11 | geometry_msgs 12 | 13 | ament_cmake 14 | rosidl_default_runtime 15 | rosidl_default_generators 16 | rosidl_interface_packages 17 | 18 | 19 | ament_cmake 20 | 21 | --------------------------------------------------------------------------------