Cleanup robots for visualization & sim (#180)

kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml

@@ -28,7 +28,6 @@ joint_trajectory_controller:
       - joint_6
     command_interfaces:
       - position
-      - velocity
     state_interfaces:
       - position
       - velocity

kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro

@@ -28,6 +28,8 @@
     sim_gazebo:=false
     sim_ignition:=false
     sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}" >
 
@@ -40,6 +42,8 @@
       sim_gazebo="${sim_gazebo}"
       sim_ignition="${sim_ignition}"
       sim_isaac="${sim_isaac}"
+      isaac_joint_commands="${isaac_joint_commands}"
+      isaac_joint_states="${isaac_joint_states}"
       tf_prefix=""
       initial_positions="${initial_positions}"
       robot_ip="${robot_ip}"

kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro

@@ -9,6 +9,8 @@
     sim_gazebo:=false
     sim_ignition:=false
     sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
     tf_prefix
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}
@@ -33,8 +35,8 @@
         </xacro:if>
         <xacro:if value="${sim_isaac}">
           <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
-          <param name="joint_commands_topic">/isaac_joint_commands</param>
-          <param name="joint_states_topic">/isaac_joint_states</param>
+          <param name="joint_commands_topic">${isaac_joint_commands}</param>
+          <param name="joint_states_topic">${isaac_joint_states}</param>
         </xacro:if>
         <xacro:if value="${use_fake_hardware}">
           <plugin>fake_components/GenericSystem</plugin>
@@ -62,10 +64,6 @@
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.15</param>
-          <param name="max">3.15</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_1']}</param>
         </state_interface>
@@ -77,10 +75,6 @@
           <param name="min">-2.41</param>
           <param name="max">2.41</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.15</param>
-          <param name="max">3.15</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_2']}</param>
         </state_interface>
@@ -92,10 +86,6 @@
           <param name="min">-2.66</param>
           <param name="max">2.66</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_3']}</param>
         </state_interface>
@@ -107,10 +97,6 @@
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_4']}</param>
         </state_interface>
@@ -122,10 +108,6 @@
           <param name="min">-2.23</param>
           <param name="max">2.23</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_5']}</param>
         </state_interface>
@@ -137,10 +119,6 @@
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
         </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
         <state_interface name="position">
           <param name="initial_value">${initial_positions['joint_6']}</param>
         </state_interface>

kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml

@@ -29,7 +29,6 @@ joint_trajectory_controller:
       - joint_7
     command_interfaces:
       - position
-      - velocity
     state_interfaces:
       - position
       - velocity

kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.dae

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T08:53:10</created>
+    <modified>2023-07-22T08:53:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects/>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene"/>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro

@@ -28,6 +28,8 @@
     sim_gazebo:=false
     sim_ignition:=false
     sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}" >
 
@@ -40,6 +42,8 @@
       sim_gazebo="${sim_gazebo}"
       sim_ignition="${sim_ignition}"
       sim_isaac="${sim_isaac}"
+      isaac_joint_commands="${isaac_joint_commands}"
+      isaac_joint_states="${isaac_joint_states}"
       tf_prefix=""
       initial_positions="${initial_positions}"
       robot_ip="${robot_ip}"
@@ -68,7 +72,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/base_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/base_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -77,7 +81,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/base_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/base_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -90,7 +94,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/shoulder_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -99,7 +103,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/shoulder_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -146,7 +150,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_1_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -155,7 +159,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_1_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -180,7 +184,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_2_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -189,7 +193,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/half_arm_2_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -236,7 +240,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/forearm_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -245,7 +249,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/forearm_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -270,7 +274,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -279,7 +283,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -326,7 +330,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -335,7 +339,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.dae" />
         </geometry>
       </collision>
     </link>
@@ -361,7 +365,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -385,7 +389,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.dae" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -394,7 +398,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+          <mesh filename="file://$(find kortex_description)/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.dae" />
         </geometry>
       </collision>
     </link>