hpp-tutorial 9.0.0__0-py3-none-any.whl

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Files changed (74) hide show
  1. cmeel.prefix/include/hpp/tutorial/config.hh +94 -0
  2. cmeel.prefix/include/hpp/tutorial/deprecated.hh +56 -0
  3. cmeel.prefix/include/hpp/tutorial/warning.hh +35 -0
  4. cmeel.prefix/lib/cmake/hpp_tutorial/cxx-standard.cmake +193 -0
  5. cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialConfig.cmake +209 -0
  6. cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialConfigVersion.cmake +65 -0
  7. cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialTargets.cmake +102 -0
  8. cmeel.prefix/lib/pkgconfig/hpp_tutorial.pc +22 -0
  9. cmeel.prefix/share/ament_index/resource_index/packages/hpp_tutorial +0 -0
  10. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/auf_saeule_bei_shop.png +0 -0
  11. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_links_neben_roboterplakat.png +0 -0
  12. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_links_vorn_bei_biolab.png +0 -0
  13. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png +0 -0
  14. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/hinter_shopschraenken_an_saeule.png +0 -0
  15. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/mittig_neben_roboterplakat.png +0 -0
  16. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/sink.png +0 -0
  17. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/stove.png +0 -0
  18. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper.png +0 -0
  19. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper2.png +0 -0
  20. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper_ai_unihb.png +0 -0
  21. cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper_project_logos.png +0 -0
  22. cmeel.prefix/share/hpp_tutorial/Media/models/meshes/glasses/__Color_A05_4.png +0 -0
  23. cmeel.prefix/share/hpp_tutorial/hook/ament_prefix_path.dsv +1 -0
  24. cmeel.prefix/share/hpp_tutorial/hook/python_path.dsv +1 -0
  25. cmeel.prefix/share/hpp_tutorial/launch/config.rviz +475 -0
  26. cmeel.prefix/share/hpp_tutorial/launch/tutorial_7_launch.py +124 -0
  27. cmeel.prefix/share/hpp_tutorial/launch/tutorial_8_launch.py +193 -0
  28. cmeel.prefix/share/hpp_tutorial/meshes/box.dae +601 -0
  29. cmeel.prefix/share/hpp_tutorial/meshes/drill.stl +0 -0
  30. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/base_link.stl +0 -0
  31. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_1.stl +0 -0
  32. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_2.stl +0 -0
  33. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_3.stl +0 -0
  34. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_4.stl +0 -0
  35. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_5.stl +0 -0
  36. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_6.stl +0 -0
  37. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/base_link.stl +0 -0
  38. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_1.stl +0 -0
  39. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_2.stl +0 -0
  40. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_3.stl +0 -0
  41. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_4.stl +0 -0
  42. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_5.stl +0 -0
  43. cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_6.stl +0 -0
  44. cmeel.prefix/share/hpp_tutorial/package.xml +20 -0
  45. cmeel.prefix/share/hpp_tutorial/srdf/box.srdf +13 -0
  46. cmeel.prefix/share/hpp_tutorial/srdf/cup.srdf +22 -0
  47. cmeel.prefix/share/hpp_tutorial/srdf/door.srdf +14 -0
  48. cmeel.prefix/share/hpp_tutorial/srdf/fr3.srdf +92 -0
  49. cmeel.prefix/share/hpp_tutorial/srdf/ground.srdf +8 -0
  50. cmeel.prefix/share/hpp_tutorial/srdf/kitchen_area.srdf +11770 -0
  51. cmeel.prefix/share/hpp_tutorial/srdf/panda.srdf +76 -0
  52. cmeel.prefix/share/hpp_tutorial/srdf/rod.srdf +2 -0
  53. cmeel.prefix/share/hpp_tutorial/srdf/staubli-drill.srdf +14 -0
  54. cmeel.prefix/share/hpp_tutorial/srdf/table.srdf +16 -0
  55. cmeel.prefix/share/hpp_tutorial/tutorial_7/controllers.yaml +28 -0
  56. cmeel.prefix/share/hpp_tutorial/tutorial_8/controllers.yaml +44 -0
  57. cmeel.prefix/share/hpp_tutorial/urdf/box.urdf +26 -0
  58. cmeel.prefix/share/hpp_tutorial/urdf/box_color.urdf +16 -0
  59. cmeel.prefix/share/hpp_tutorial/urdf/cup.urdf +26 -0
  60. cmeel.prefix/share/hpp_tutorial/urdf/door.urdf +111 -0
  61. cmeel.prefix/share/hpp_tutorial/urdf/fr3.urdf +452 -0
  62. cmeel.prefix/share/hpp_tutorial/urdf/ground.urdf +20 -0
  63. cmeel.prefix/share/hpp_tutorial/urdf/kitchen_area.urdf +4729 -0
  64. cmeel.prefix/share/hpp_tutorial/urdf/kitchen_area_obstacle.urdf +4729 -0
  65. cmeel.prefix/share/hpp_tutorial/urdf/obstacle.urdf +18 -0
  66. cmeel.prefix/share/hpp_tutorial/urdf/rod.urdf +19 -0
  67. cmeel.prefix/share/hpp_tutorial/urdf/square-plate.urdf +17 -0
  68. cmeel.prefix/share/hpp_tutorial/urdf/staubli-drill.urdf +254 -0
  69. cmeel.prefix/share/hpp_tutorial/urdf/table.urdf +160 -0
  70. hpp_tutorial-9.0.0.dist-info/METADATA +36 -0
  71. hpp_tutorial-9.0.0.dist-info/RECORD +74 -0
  72. hpp_tutorial-9.0.0.dist-info/WHEEL +6 -0
  73. hpp_tutorial-9.0.0.dist-info/licenses/LICENSE +24 -0
  74. hpp_tutorial-9.0.0.dist-info/top_level.txt +0 -0
cmeel.prefix/share/hpp_tutorial/srdf/box.srdf ADDED
@@ -0,0 +1,13 @@
1
+ <?xml version="1.0"?>
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+ <robot name="box">
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+ <handle name="handle" clearance="0.025" approaching_direction="0 0 1">
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+ <position xyz="0 0 0" wxyz="0 0 1 0" />
5
+ <link name="base_link"/>
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+ </handle>
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+ <contact name="surface">
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+ <link name="base_link"/>
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+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025 -0.025 0.025 -0.025 -0.025
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+ </point>
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+ <shape> 4 0 1 2 3</shape>
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+ </contact>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/cup.srdf ADDED
@@ -0,0 +1,22 @@
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+ <?xml version="1.0"?>
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+ <robot name="cup">
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+ <handle name="handle" clearance="0">
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+ <position> 0 0 0 1 0 0 0 </position>
5
+ <link name="base_link"/>
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+ </handle>
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+ <handle name="top" clearance="0">
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+ <position> 0 0 -0.025 -0.7071067811865476 0 .7071067811865476 0 </position>
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+ <link name="base_link"/>
10
+ </handle>
11
+ <handle name="bottom" clearance="0">
12
+ <position> 0 0 0.025 0.7071067811865476 0 .7071067811865476 0 </position>
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+ <link name="base_link"/>
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+ </handle>
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+ <contact name="box_surface">
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+ <link name="base_link"/>
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+ <point>-0.01 -0.01 -0.05 -0.01 0.01 -0.05 -0.01 -0.01 0.05 -0.01 0.01 0.05
18
+ +0.01 -0.01 -0.05 +0.01 0.01 -0.05 +0.01 -0.01 0.05 +0.01 0.01 0.05 </point>
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+ <shape> 4 3 2 6 7</shape>
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+ <!--<shape> 4 0 1 5 4</shape>-->
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+ </contact>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/door.srdf ADDED
@@ -0,0 +1,14 @@
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+ <?xml version="1.0"?>
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+ <robot name="door">
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+ <handle name="handle1" clearance="0.025">
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+ <position> 0.9 0.075 0.9 0.7071 0 0 -0.7071 </position>
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+ <link name="door_link"/>
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+ </handle>
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+ <handle name="handle2" clearance="0.025">
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+ <position> 0.9 -0.025 0.9 0.7071 0 0 0.7071 </position>
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+ <link name="door_link"/>
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+ </handle>
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+ <disable_collisions link1="door_link" link2="wall1_link" reason="Default" />
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+ <disable_collisions link1="door_link" link2="wall2_link" reason="Default" />
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+ <disable_collisions link1="wall1_link" link2="wall2_link" reason="Default" />
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+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/fr3.srdf ADDED
@@ -0,0 +1,92 @@
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+ <?xml version="1.0" ?>
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+ <!-- =================================================================================== -->
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+ <!-- | This document was autogenerated by xacro from /home/psardin/devel/franka_ros2_ws/src/franka_description/robots/fr3/fr3.srdf.xacro | -->
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+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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+ <!-- =================================================================================== -->
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+ <robot name="fr3">
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+ <group name="fr3_arm">
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+ <chain base_link="fr3_link0" tip_link="fr3_hand_tcp"/>
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+ </group>
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+ <group_state group="fr3_arm" name="ready">
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+ <joint name="fr3_joint1" value="0"/>
12
+ <joint name="fr3_joint2" value="-0.7853981633974483"/>
13
+ <joint name="fr3_joint3" value="0"/>
14
+ <joint name="fr3_joint4" value="-2.356194490192345"/>
15
+ <joint name="fr3_joint5" value="0"/>
16
+ <joint name="fr3_joint6" value="1.5707963267948966"/>
17
+ <joint name="fr3_joint7" value="0.7853981633974483"/>
18
+ </group_state>
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+ <group_state group="fr3_arm" name="extended">
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+ <joint name="fr3_joint1" value="0"/>
21
+ <joint name="fr3_joint2" value="0"/>
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+ <joint name="fr3_joint3" value="0"/>
23
+ <joint name="fr3_joint4" value="-0.1"/>
24
+ <joint name="fr3_joint5" value="0"/>
25
+ <joint name="fr3_joint6" value="1.5707963267948966"/>
26
+ <joint name="fr3_joint7" value="0.7853981633974483"/>
27
+ </group_state>
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+ <virtual_joint child_link="base" name="virtual_joint" parent_frame="world" type="fixed"/>
29
+ <disable_collisions link1="fr3_link0" link2="fr3_link1" reason="Adjacent"/>
30
+ <disable_collisions link1="fr3_link0" link2="fr3_link2" reason="Never"/>
31
+ <disable_collisions link1="fr3_link0" link2="fr3_link3" reason="Never"/>
32
+ <disable_collisions link1="fr3_link0" link2="fr3_link4" reason="Never"/>
33
+ <disable_collisions link1="fr3_link1" link2="fr3_link2" reason="Adjacent"/>
34
+ <disable_collisions link1="fr3_link1" link2="fr3_link3" reason="Never"/>
35
+ <disable_collisions link1="fr3_link1" link2="fr3_link4" reason="Never"/>
36
+ <disable_collisions link1="fr3_link2" link2="fr3_link3" reason="Adjacent"/>
37
+ <disable_collisions link1="fr3_link2" link2="fr3_link4" reason="Never"/>
38
+ <disable_collisions link1="fr3_link2" link2="fr3_link6" reason="Never"/>
39
+ <disable_collisions link1="fr3_link3" link2="fr3_link4" reason="Adjacent"/>
40
+ <disable_collisions link1="fr3_link3" link2="fr3_link5" reason="Never"/>
41
+ <disable_collisions link1="fr3_link3" link2="fr3_link6" reason="Never"/>
42
+ <disable_collisions link1="fr3_link3" link2="fr3_link7" reason="Never"/>
43
+ <disable_collisions link1="fr3_link4" link2="fr3_link5" reason="Adjacent"/>
44
+ <disable_collisions link1="fr3_link4" link2="fr3_link6" reason="Never"/>
45
+ <disable_collisions link1="fr3_link4" link2="fr3_link7" reason="Never"/>
46
+ <disable_collisions link1="fr3_link4" link2="fr3_link8" reason="Never"/>
47
+ <disable_collisions link1="fr3_link5" link2="fr3_link6" reason="Adjacent"/>
48
+ <disable_collisions link1="fr3_link5" link2="fr3_link7" reason="Never"/>
49
+ <disable_collisions link1="fr3_link6" link2="fr3_link7" reason="Adjacent"/>
50
+ <disable_collisions link1="fr3_link6" link2="fr3_link8" reason="Default"/>
51
+ <disable_collisions link1="fr3_link7" link2="fr3_link8" reason="Adjacent"/>
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+ <group name="fr3_hand">
53
+ <link name="fr3_hand"/>
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+ <link name="fr3_leftfinger"/>
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+ <link name="fr3_rightfinger"/>
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+ <joint name="fr3_finger_joint1"/>
57
+ <passive_joint name="fr3_finger_joint2"/>
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+ </group>
59
+ <group_state group="fr3_hand" name="open">
60
+ <joint name="fr3_finger_joint1" value="0.035"/>
61
+ <joint name="fr3_finger_joint2" value="0.035"/>
62
+ </group_state>
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+ <group_state group="fr3_hand" name="close">
64
+ <joint name="fr3_finger_joint1" value="0"/>
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+ <joint name="fr3_finger_joint2" value="0"/>
66
+ </group_state>
67
+ <end_effector group="fr3_hand" name="fr3_hand" parent_group="fr3_arm" parent_link="fr3_hand_tcp"/>
68
+ <disable_collisions link1="fr3_hand" link2="fr3_leftfinger" reason="Adjacent"/>
69
+ <disable_collisions link1="fr3_hand" link2="fr3_rightfinger" reason="Adjacent"/>
70
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_rightfinger" reason="Default"/>
71
+ <disable_collisions link1="fr3_hand" link2="fr3_link3" reason="Never"/>
72
+ <disable_collisions link1="fr3_hand" link2="fr3_link4" reason="Never"/>
73
+ <disable_collisions link1="fr3_hand" link2="fr3_link6" reason="Never"/>
74
+ <disable_collisions link1="fr3_hand" link2="fr3_link7" reason="Adjacent"/>
75
+ <disable_collisions link1="fr3_hand" link2="fr3_link8" reason="Adjacent"/>
76
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_link3" reason="Never"/>
77
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_link4" reason="Never"/>
78
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_link6" reason="Never"/>
79
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_link7" reason="Never"/>
80
+ <disable_collisions link1="fr3_leftfinger" link2="fr3_link8" reason="Never"/>
81
+ <disable_collisions link1="fr3_link3" link2="fr3_rightfinger" reason="Never"/>
82
+ <disable_collisions link1="fr3_link4" link2="fr3_rightfinger" reason="Never"/>
83
+ <disable_collisions link1="fr3_link6" link2="fr3_rightfinger" reason="Never"/>
84
+ <disable_collisions link1="fr3_link7" link2="fr3_rightfinger" reason="Never"/>
85
+ <disable_collisions link1="fr3_link8" link2="fr3_rightfinger" reason="Never"/>
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+
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+ <!-- gripper for manipulation planning -->
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+ <gripper name="gripper" clearance="0.05">
89
+ <position xyz="0 0 0" wxyz="1 0 0 0" />
90
+ <link name="fr3_hand_tcp"/>
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+ </gripper>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/ground.srdf ADDED
@@ -0,0 +1,8 @@
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+ <robot name="ground">
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+ <contact name="surface">
3
+ <link name="base_link"/>
4
+ <point> 1 -1 0 1 1 0 -1 1 0 -1 -1 0
5
+ </point>
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+ <shape> 4 0 1 2 3</shape>
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+ </contact>
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+ </robot>