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RSI v4 modification #152

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RSI v4 modification #152

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7f2f0b7
Add Kuka KR 10 gazebo pkg.
bmaric Dec 17, 2018
252c8fa
Modify joint names
bmaric Dec 17, 2018
d179d02
modify parameters for kuka interface
bmaric Jan 3, 2019
6479060
Modify rsi setup. Working version
bmaric Jan 18, 2019
fa11b52
Add pipe experiment tool for kr10. Add FT sensor. Add world for pipe …
bmaric Feb 2, 2019
7fef05a
Modify kr10 gazebo. Add service for DIO in rsi_hw_interface
bmaric Mar 18, 2019
c1a2e81
RSI v4 modifications. Digital output support.
bmaric Mar 25, 2019
72a1381
Add Digital Input support
bmaric Apr 24, 2019
7f6e8f9
solving conflicts.
bmaric Apr 24, 2019
4e08df8
Add RT priorities to kuka_rsi_hw_interface
bmaric May 15, 2019
725c47c
Modify DIO
bmaric Jul 3, 2019
2bd18fb
Add endorse tool
bmaric Jul 16, 2019
bd3ed48
Add endorse tool
bmaric Jul 16, 2019
02aa779
Add position interface support
bmaric Jan 2, 2020
e2f7d47
Add proxxon drilling tool.
bmaric Jun 10, 2021
5b2fab7
Add proxon
bmaric Jun 10, 2021
cfe6290
Proxon modify
bmaric Jun 10, 2021
886348c
Modify x position
bmaric Jun 11, 2021
833bd69
Minor changes in xacro
bmaric Jun 11, 2021
cfce78f
Add proxxon driller support
bmaric Jun 23, 2021
b1f9611
Add proxxon tool mesh.
bmaric Sep 20, 2021
90e5522
temp version
bmaric Oct 11, 2021
05b8d6b
Merge branch 'indigo-devel' of https://github.com/larics/kuka_experim…
bmaric Oct 11, 2021
280ab16
OMCO last version of URDFs
bmaric Jan 11, 2023
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Add endorse tool
@bmaric
bmaric committed Jul 16, 2019

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Learn about vigilant mode
commit 2bd18fb79ec7a57d8e07ef3a1b65856dad6733e4
6 changes: 6 additions & 0 deletions kuka_kr10_gazebo/urdf/kr10.xacro
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Original file line number Diff line number Diff line change
@@ -15,4 +15,10 @@
<!-- arm -->
<!--xacro:FT_sensor_gazebo prefix=""/-->

<!-- ENDORSE Tool -->
<xacro:include filename="$(find kuka_kr10_gazebo)/urdf/endorse_tool_macro.xacro"/>

<!-- tool -->
<xacro:endorse_tool_gazebo prefix=""/>

</robot>
12 changes: 6 additions & 6 deletions kuka_kr10_gazebo/urdf/kr10_macro.xacro
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Original file line number Diff line number Diff line change
@@ -73,27 +73,27 @@

<!-- Gazebo-specific link properties -->
<gazebo reference="${prefix}base_link">
<material>Gazebo/Black</material>
<material>Gazebo/Grey</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_1">
<material>Gazebo/DarkGrey</material>
<material>Gazebo/Orange</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_2">
<material>Gazebo/DarkGrey</material>
<material>Gazebo/Orange</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_3">
<material>Gazebo/DarkGrey</material>
<material>Gazebo/Orange</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_4">
<material>Gazebo/DarkGrey</material>
<material>Gazebo/Orange</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_5">
<material>Gazebo/DarkGrey</material>
<material>Gazebo/Orange</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="${prefix}link_6">
3 changes: 3 additions & 0 deletions kuka_kr10_support/urdf/kr10r1100sixx.xacro
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Original file line number Diff line number Diff line change
@@ -2,6 +2,9 @@
<robot name="kuka_kr10r1100sixx" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_kr10_support)/urdf/kr10r1100sixx_macro.xacro" />
<xacro:kuka_kr10r1100sixx prefix=""/>

<xacro:include filename="$(find kuka_kr10_support)/urdf/endorse_tool_macro.xacro" />
<xacro:endorse_tool prefix=""/>

<!--xacro:include filename="$(find kuka_kr10_support)/urdf/ft_sensor_macro.xacro" /-->
<!--xacro:kuka_ft_sensor prefix=""/-->
3 changes: 2 additions & 1 deletion kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
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Original file line number Diff line number Diff line change
@@ -176,7 +176,8 @@
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="-1 0 0"/>
<limit effort="0" lower="${-DEG2RAD * 185}" upper="${DEG2RAD * 185}" velocity="${DEG2RAD * 381}"/>
<!--limit effort="0" lower="${-DEG2RAD * 185}" upper="${DEG2RAD * 185}" velocity="${DEG2RAD * 381}"/-->
<limit effort="0" lower="${-DEG2RAD * 120}" upper="${DEG2RAD * 120}" velocity="${DEG2RAD * 381}"/>
</joint>
<joint name="${prefix}joint_a5" type="revolute">
<origin xyz="0.515 0 0" rpy="0 0 0"/>