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/panda.srdf ADDED
@@ -0,0 +1,76 @@
1
+ <?xml version="1.0" encoding="UTF-8"?>
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+ <robot name="panda">
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+ <group name="arm">
4
+ <joint name="panda_joint1"/>
5
+ <joint name="panda_joint2"/>
6
+ <joint name="panda_joint3"/>
7
+ <joint name="panda_joint4"/>
8
+ <joint name="panda_joint5"/>
9
+ <joint name="panda_joint6"/>
10
+ <joint name="panda_joint7"/>
11
+ </group>
12
+
13
+ <group name="hand">
14
+ <joint name="panda_finger_joint1"/>
15
+ </group>
16
+
17
+ <group name="arm_and_hand">
18
+ <group name="arm"/>
19
+ <group name="hand"/>
20
+ </group>
21
+
22
+ <group_state name="default" group="arm_and_hand">
23
+ <joint name="panda_finger_joint1" value="0.001"/>
24
+ <joint name="panda_joint1" value="0"/>
25
+ <joint name="panda_joint2" value="-0.785398"/>
26
+ <joint name="panda_joint3" value="0"/>
27
+ <joint name="panda_joint4" value="-2.35619"/>
28
+ <joint name="panda_joint5" value="0"/>
29
+ <joint name="panda_joint6" value="1.5707"/>
30
+ <joint name="panda_joint7" value="0.785398"/>
31
+ </group_state>
32
+
33
+ <end_effector name="end_effector" parent_link="panda_hand_tcp" group="arm"/>
34
+
35
+ <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
36
+ <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
37
+ <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
38
+ <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
39
+ <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
40
+ <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent"/>
41
+ <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
42
+ <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
43
+ <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
44
+ <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
45
+ <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
46
+ <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
47
+ <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
48
+ <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
49
+ <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
50
+ <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
51
+ <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
52
+ <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
53
+ <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
54
+ <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
55
+ <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
56
+ <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
57
+ <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
58
+ <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
59
+ <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
60
+ <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
61
+ <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
62
+ <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
63
+ <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
64
+ <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
65
+ <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
66
+ <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
67
+ <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
68
+ <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
69
+ <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
70
+
71
+ <!-- gripper -->
72
+ <gripper name="gripper" clearance="0.05">
73
+ <position xyz="0 0 0" wxyz="1 0 0 0" />
74
+ <link name="panda_hand_tcp"/>
75
+ </gripper>
76
+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/rod.srdf ADDED
@@ -0,0 +1,2 @@
1
+ <robot name="rod">
2
+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/staubli-drill.srdf ADDED
@@ -0,0 +1,14 @@
1
+ <robot>
2
+ <gripper name="tooltip" clearance="0.0">
3
+ <position xyz="0 0 0.037" xyzw="0 0 0 1"/>
4
+ <link name="tool_link"/>
5
+ </gripper>
6
+ <disable_collisions link1="base_link" link2="link_1" reason="neighbors"/>
7
+ <disable_collisions link1="link_1" link2="link_2" reason="neighbors"/>
8
+ <disable_collisions link1="link_2" link2="link_3" reason="neighbors"/>
9
+ <disable_collisions link1="link_3" link2="link_4" reason="neighbors"/>
10
+ <disable_collisions link1="link_3" link2="link_5" reason="neighbors"/>
11
+ <disable_collisions link1="link_4" link2="link_5" reason="neighbors"/>
12
+ <disable_collisions link1="link_5" link2="link_6" reason="neighbors"/>
13
+ <disable_collisions link1="link_6" link2="tool" reason="neighbors"/>
14
+ </robot>
cmeel.prefix/share/hpp_tutorial/srdf/table.srdf ADDED
@@ -0,0 +1,16 @@
1
+ <robot name="table">
2
+ <contact name="pancake_table_table_top">
3
+ <link name="pancake_table_table_top_link"/>
4
+ <!-- Box size: size_x * size_y * size_z
5
+ x y z -->
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+ <point>
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+ 0.8 0.3 0.0125
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+ 0.8 -0.3 0.0125
9
+ -0.8 0.3 0.0125
10
+ -0.8 -0.3 0.0125
11
+ </point>
12
+ <shape>
13
+ 4 0 2 3 1
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+ </shape>
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+ </contact>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/tutorial_7/controllers.yaml ADDED
@@ -0,0 +1,28 @@
1
+ controller_manager:
2
+ ros__parameters:
3
+ update_rate: 1000
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+
5
+ joint_state_broadcaster:
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+ type: joint_state_broadcaster/JointStateBroadcaster
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+
8
+ joint_trajectory_controller:
9
+ type: joint_trajectory_controller/JointTrajectoryController
10
+
11
+ joint_trajectory_controller:
12
+ ros__parameters:
13
+ joints:
14
+ - fr3_joint1
15
+ - fr3_joint2
16
+ - fr3_joint3
17
+ - fr3_joint4
18
+ - fr3_joint5
19
+ - fr3_joint6
20
+ - fr3_joint7
21
+ command_interfaces:
22
+ - position
23
+ state_interfaces:
24
+ - position
25
+ - velocity
26
+ state_publish_rate: 100.0
27
+ action_monitor_rate: 20.0
28
+ allow_partial_joints_goal: false
cmeel.prefix/share/hpp_tutorial/tutorial_8/controllers.yaml ADDED
@@ -0,0 +1,44 @@
1
+ controller_manager:
2
+ ros__parameters:
3
+ update_rate: 1000
4
+
5
+ joint_state_broadcaster:
6
+ type: joint_state_broadcaster/JointStateBroadcaster
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+
8
+ joint_trajectory_controller:
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+ type: joint_trajectory_controller/JointTrajectoryController
10
+
11
+ gripper_controller:
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+ type: joint_trajectory_controller/JointTrajectoryController
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+
14
+ joint_trajectory_controller:
15
+ ros__parameters:
16
+ joints:
17
+ - fr3_joint1
18
+ - fr3_joint2
19
+ - fr3_joint3
20
+ - fr3_joint4
21
+ - fr3_joint5
22
+ - fr3_joint6
23
+ - fr3_joint7
24
+ command_interfaces:
25
+ - position
26
+ state_interfaces:
27
+ - position
28
+ - velocity
29
+ state_publish_rate: 100.0
30
+ action_monitor_rate: 20.0
31
+ allow_partial_joints_goal: false
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+
33
+ gripper_controller:
34
+ ros__parameters:
35
+ joints:
36
+ - fr3_finger_joint1
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+ command_interfaces:
38
+ - position
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+ state_interfaces:
40
+ - position
41
+ - velocity
42
+ state_publish_rate: 100.0
43
+ action_monitor_rate: 20.0
44
+ allow_partial_joints_goal: false
cmeel.prefix/share/hpp_tutorial/urdf/box.urdf ADDED
@@ -0,0 +1,26 @@
1
+ <robot name="box">
2
+ <link name="base_link">
3
+ <inertial>
4
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
5
+ <mass value="0.6"/>
6
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
7
+ iyy="0.001" iyz="0.0"
8
+ izz="0.001" />
9
+ </inertial>
10
+ <visual>
11
+ <origin xyz="0 0 0" rpy="0 0 0" />
12
+ <geometry>
13
+ <box size="0.05 0.05 0.05"/>
14
+ </geometry>
15
+ <material name="red">
16
+ <color rgba="1 0 0 1"/>
17
+ </material>
18
+ </visual>
19
+ <collision>
20
+ <origin xyz="0 0 0" rpy="0 0 0" />
21
+ <geometry>
22
+ <box size="0.05 0.05 0.05"/>
23
+ </geometry>
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+ </collision>
25
+ </link>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/urdf/box_color.urdf ADDED
@@ -0,0 +1,16 @@
1
+ <robot name="box">
2
+ <link name="base_link">
3
+ <visual>
4
+ <origin xyz="0 0 0" rpy="0 0 0" />
5
+ <geometry>
6
+ <mesh filename="package://hpp_tutorial/meshes/box.dae"/>
7
+ </geometry>
8
+ </visual>
9
+ <collision>
10
+ <origin xyz="0 0 0" rpy="0 0 0" />
11
+ <geometry>
12
+ <mesh filename="package://hpp_tutorial/meshes/box.dae"/>
13
+ </geometry>
14
+ </collision>
15
+ </link>
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+ </robot>
cmeel.prefix/share/hpp_tutorial/urdf/cup.urdf ADDED
@@ -0,0 +1,26 @@
1
+ <robot name="cup">
2
+ <link name="base_link">
3
+ <inertial>
4
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
5
+ <mass value="1.2"/>
6
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
7
+ iyy="0.001" iyz="0.0"
8
+ izz="0.001" />
9
+ </inertial>
10
+ <visual>
11
+ <origin xyz="0 0 0" rpy="0 0 0" />
12
+ <geometry>
13
+ <box size="0.02 0.02 0.1"/>
14
+ </geometry>
15
+ <material name="lightGrey">
16
+ <color rgba="0.9 0.9 0.9 1"/>
17
+ </material>
18
+ </visual>
19
+ <collision>
20
+ <origin xyz="0 0 0" rpy="0 0 0" />
21
+ <geometry>
22
+ <box size="0.02 0.02 0.1"/>
23
+ </geometry>
24
+ </collision>
25
+ </link>
26
+ </robot>
cmeel.prefix/share/hpp_tutorial/urdf/door.urdf ADDED
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+ <robot name="door">
2
+ <link name="base_link"/>
3
+ <link name="door_link">
4
+ <inertial>
5
+ <origin xyz="0.503 0.0025 1" rpy="0 0 0" />
6
+ <mass value="0.6"/>
7
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
8
+ iyy="0.001" iyz="0.0"
9
+ izz="0.001" />
10
+ </inertial>
11
+
12
+ <visual>
13
+ <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
14
+ <geometry>
15
+ <sphere radius="0.01"/>
16
+ </geometry>
17
+ <material name="white">
18
+ <color rgba="1 1 1 1"/>
19
+ </material>
20
+ </visual>
21
+ <collision>
22
+ <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
23
+ <geometry>
24
+ <sphere radius="0.01"/>
25
+ </geometry>
26
+ </collision>
27
+
28
+ <visual>
29
+ <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
30
+ <geometry>
31
+ <sphere radius="0.01"/>
32
+ </geometry>
33
+ <material name="white">
34
+ <color rgba="1 1 1 1"/>
35
+ </material>
36
+ </visual>
37
+ <collision>
38
+ <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
39
+ <geometry>
40
+ <sphere radius="0.01"/>
41
+ </geometry>
42
+ </collision>
43
+
44
+ <visual>
45
+ <origin xyz="0.53 0.025 1" rpy="0 0 0" />
46
+ <geometry>
47
+ <box size="1.06 0.05 2"/>
48
+ </geometry>
49
+ <material name="white">
50
+ <color rgba="1 1 1 1"/>
51
+ </material>
52
+ </visual>
53
+ <collision>
54
+ <origin xyz="0.53 0.025 1" rpy="0 0 0" />
55
+ <geometry>
56
+ <box size="1.06 0.05 2"/>
57
+ </geometry>
58
+ </collision>
59
+ </link>
60
+ <joint name="door_joint" type="revolute">
61
+ <limit effort="1" upper="0" lower="-3.14" velocity="1"/>
62
+ <origin rpy="0 0 0" xyz="0 0 0"/>
63
+ <axis xyz="0 0 1"/>
64
+ <child link="door_link"/>
65
+ <parent link="base_link"/>
66
+ </joint>
67
+ <link name="wall1_link">
68
+ <visual>
69
+ <origin xyz="1 0.025 1" rpy="0 0 0" />
70
+ <geometry>
71
+ <box size="2 0.05 2"/>
72
+ </geometry>
73
+ <material name="white">
74
+ <color rgba="1 1 1 1"/>
75
+ </material>
76
+ </visual>
77
+ <collision>
78
+ <origin xyz="1 0.025 1" rpy="0 0 0" />
79
+ <geometry>
80
+ <box size="2 0.05 2"/>
81
+ </geometry>
82
+ </collision>
83
+ </link>
84
+ <link name="wall2_link">
85
+ <visual>
86
+ <origin xyz="1 0.025 1" rpy="0 0 0" />
87
+ <geometry>
88
+ <box size="2 0.05 2"/>
89
+ </geometry>
90
+ <material name="white">
91
+ <color rgba="1 1 1 1"/>
92
+ </material>
93
+ </visual>
94
+ <collision>
95
+ <origin xyz="1 0.025 1" rpy="0 0 0" />
96
+ <geometry>
97
+ <box size="2 0.05 2"/>
98
+ </geometry>
99
+ </collision>
100
+ </link>
101
+ <joint name="wall1_joint" type="fixed">
102
+ <origin rpy="0 0 0" xyz="-2.01 0 0"/>
103
+ <child link="wall1_link"/>
104
+ <parent link="base_link"/>
105
+ </joint>
106
+ <joint name="wall2_joint" type="fixed">
107
+ <origin rpy="0 0 0" xyz="1.07 0 0"/>
108
+ <child link="wall2_link"/>
109
+ <parent link="base_link"/>
110
+ </joint>
111
+ </robot>