Skip to content
This repository was archived by the owner on Oct 4, 2023. It is now read-only.

Commit 4341765

Browse files
twahrburg-googletwahrburg-google
committed
Pyreach sync 20220203
1 parent 89aa82b commit 4341765

File tree

18 files changed

+2255
-11
lines changed

18 files changed

+2255
-11
lines changed

‎pyreach/gyms/__init__.py‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,6 @@
1111
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
1212
# See the License for the specific language governing permissions and
1313
# limitations under the License.
14-
1514
"""Initialize Reach Gyms package."""
1615

1716
from pyreach.gyms.registration import register # type: ignore

‎pyreach/gyms/envs/assets/collision/base.stl‎

20.6 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/forearm.stl‎

52 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/shoulder.stl‎

68.4 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/upperarm.stl‎

97.3 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/wrist1.stl‎

58.2 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/wrist2.stl‎

66 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/collision/wrist3.stl‎

7.02 KB
Binary file not shown.

‎pyreach/gyms/envs/assets/ur5e.urdf‎

Lines changed: 284 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,284 @@
1+
<?xml version="1.0" ?>
2+
<robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
3+
<material name="LightGrey">
4+
<color rgba="0.8 0.8 0.8 1.0"/>
5+
</material>
6+
7+
<material name="DarkGrey">
8+
<color rgba="0.2 0.2 0.2 1.0"/>
9+
</material>
10+
11+
<link name="base_link">
12+
<visual>
13+
<geometry>
14+
<mesh filename="visual/base.dae"/>
15+
</geometry>
16+
<material name="LightGrey"/>
17+
</visual>
18+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
19+
<!-- <collision>
20+
<geometry>
21+
<mesh filename="collision/base.stl"/>
22+
</geometry>
23+
</collision> -->
24+
<inertial>
25+
<mass value="4.0"/>
26+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
27+
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
28+
</inertial>
29+
</link>
30+
<joint name="shoulder_pan_joint" type="revolute">
31+
<parent link="base_link"/>
32+
<child link="shoulder_link"/>
33+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1625"/>
34+
<axis xyz="0 0 1"/>
35+
<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
36+
<dynamics damping="0.0" friction="0.0"/>
37+
</joint>
38+
<link name="shoulder_link">
39+
<visual>
40+
<geometry>
41+
<mesh filename="visual/shoulder.dae"/>
42+
</geometry>
43+
<material name="DarkGrey"/>
44+
</visual>
45+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
46+
<!-- <collision>
47+
<geometry>
48+
<mesh filename="collision/shoulder.stl"/>
49+
</geometry>
50+
</collision> -->
51+
<inertial>
52+
<mass value="3.7"/>
53+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
54+
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
55+
</inertial>
56+
</link>
57+
<joint name="shoulder_lift_joint" type="revolute">
58+
<parent link="shoulder_link"/>
59+
<child link="upper_arm_link"/>
60+
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.138 0.0"/>
61+
<axis xyz="0 1 0"/>
62+
<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
63+
<dynamics damping="0.0" friction="0.0"/>
64+
</joint>
65+
<link name="upper_arm_link">
66+
<visual>
67+
<geometry>
68+
<mesh filename="visual/upperarm.dae"/>
69+
</geometry>
70+
<material name="LightGrey"/>
71+
</visual>
72+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
73+
<!-- <collision>
74+
<geometry>
75+
<mesh filename="collision/upperarm.stl"/>
76+
</geometry>
77+
</collision> -->
78+
<inertial>
79+
<mass value="8.393"/>
80+
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
81+
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
82+
</inertial>
83+
</link>
84+
<joint name="elbow_joint" type="revolute">
85+
<parent link="upper_arm_link"/>
86+
<child link="forearm_link"/>
87+
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.131 0.425"/>
88+
<axis xyz="0 1 0"/>
89+
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
90+
<dynamics damping="0.0" friction="0.0"/>
91+
</joint>
92+
<link name="forearm_link">
93+
<visual>
94+
<geometry>
95+
<mesh filename="visual/forearm.dae"/>
96+
</geometry>
97+
<material name="DarkGrey"/>
98+
</visual>
99+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
100+
<!-- <collision>
101+
<geometry>
102+
<mesh filename="collision/forearm.stl"/>
103+
</geometry>
104+
</collision> -->
105+
<inertial>
106+
<mass value="2.275"/>
107+
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
108+
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
109+
</inertial>
110+
</link>
111+
<joint name="wrist_1_joint" type="revolute">
112+
<parent link="forearm_link"/>
113+
<child link="wrist_1_link"/>
114+
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.3922"/>
115+
<axis xyz="0 1 0"/>
116+
<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
117+
<dynamics damping="0.0" friction="0.0"/>
118+
</joint>
119+
<link name="wrist_1_link">
120+
<visual>
121+
<geometry>
122+
<mesh filename="visual/wrist1.dae"/>
123+
</geometry>
124+
<material name="LightGrey"/>
125+
</visual>
126+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
127+
<!-- <collision>
128+
<geometry>
129+
<mesh filename="collision/wrist1.stl"/>
130+
</geometry>
131+
</collision> -->
132+
<inertial>
133+
<mass value="1.219"/>
134+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
135+
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
136+
</inertial>
137+
</link>
138+
<joint name="wrist_2_joint" type="revolute">
139+
<parent link="wrist_1_link"/>
140+
<child link="wrist_2_link"/>
141+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.127 0.0"/>
142+
<axis xyz="0 0 1"/>
143+
<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
144+
<dynamics damping="0.0" friction="0.0"/>
145+
</joint>
146+
<link name="wrist_2_link">
147+
<visual>
148+
<geometry>
149+
<mesh filename="visual/wrist2.dae"/>
150+
</geometry>
151+
<material name="DarkGrey"/>
152+
</visual>
153+
<collision>
154+
<geometry>
155+
<mesh filename="collision/wrist2.stl"/>
156+
</geometry>
157+
</collision>
158+
<inertial>
159+
<mass value="1.219"/>
160+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
161+
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
162+
</inertial>
163+
</link>
164+
<joint name="wrist_3_joint" type="revolute">
165+
<parent link="wrist_2_link"/>
166+
<child link="wrist_3_link"/>
167+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.100"/>
168+
<axis xyz="0 1 0"/>
169+
<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
170+
<dynamics damping="0.0" friction="0.0"/>
171+
</joint>
172+
<link name="wrist_3_link">
173+
<visual>
174+
<geometry>
175+
<mesh filename="visual/wrist3.dae"/>
176+
</geometry>
177+
<material name="LightGrey"/>
178+
</visual>
179+
<collision>
180+
<geometry>
181+
<mesh filename="collision/wrist3.stl"/>
182+
</geometry>
183+
</collision>
184+
<inertial>
185+
<mass value="0.1879"/>
186+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
187+
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
188+
</inertial>
189+
</link>
190+
<joint name="ee_fixed_joint" type="fixed">
191+
<parent link="wrist_3_link"/>
192+
<child link="ee_link"/>
193+
<origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.100 0.0"/>
194+
</joint>
195+
<link name="ee_link">
196+
<!-- Remove non-end-effector collision geometries for PyBullet IK. -->
197+
<!-- <collision>
198+
<geometry>
199+
<box size="0.01 0.01 0.01"/>
200+
</geometry>
201+
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
202+
</collision> -->
203+
<inertial>
204+
<mass value="0.0"/>
205+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
206+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
207+
</inertial>
208+
</link>
209+
<!-- Nothing to do here at the moment. -->
210+
<!-- ROS base_link to UR 'Base' Coordinates transform. -->
211+
<link name="base">
212+
<inertial>
213+
<mass value="0.0"/>
214+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
215+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
216+
</inertial>
217+
</link>
218+
<joint name="base_link-base_fixed_joint" type="fixed">
219+
<!-- NOTE: this rotation is only needed as long as base_link itself is
220+
not corrected wrt the real robot (ie: rotated over 180
221+
degrees)
222+
-->
223+
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
224+
<parent link="base_link"/>
225+
<child link="base"/>
226+
</joint>
227+
<!-- Frame coincident with all-zeros TCP on UR controller. -->
228+
<link name="tool0">
229+
<inertial>
230+
<mass value="0.0"/>
231+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
232+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
233+
</inertial>
234+
</link>
235+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
236+
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
237+
<parent link="wrist_3_link"/>
238+
<child link="tool0"/>
239+
</joint>
240+
241+
<link name="tool_tip">
242+
<inertial>
243+
<mass value="0.0"/>
244+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
245+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
246+
</inertial>
247+
<!-- Remove visual geometry of tool tip (used only for checking offsets in PyBullet). -->
248+
<!-- <visual>
249+
<geometry>
250+
<box size="0.01 0.01 0.01"/>
251+
</geometry>
252+
<material name="DarkGrey"/>
253+
<origin rpy="0 0 0" xyz="0 0 0"/>
254+
</visual> -->
255+
</link>
256+
<joint name="tool0_fixed_joint-tool_tip" type="fixed">
257+
<!-- <origin rpy="0 0 0" xyz="0 -0.0595 0.177"/> -->
258+
<origin rpy="0 0 0" xyz="0 0 0.175"/>
259+
<!-- <origin rpy="0 0 0" xyz="0 -0.06 0.16"/> -->
260+
<parent link="tool0"/>
261+
<child link="tool_tip"/>
262+
</joint>
263+
264+
<link name="world"/>
265+
<joint name="world_joint" type="fixed">
266+
<parent link="world"/>
267+
<child link="rotated_base_link"/>
268+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
269+
</joint>
270+
271+
<link name="rotated_base_link">
272+
<inertial>
273+
<mass value="0.0"/>
274+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
275+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
276+
</inertial>
277+
</link>>
278+
279+
<joint name="rotated_base-base_fixed_joint" type="fixed">
280+
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793"/>
281+
<parent link="rotated_base_link"/>
282+
<child link="base_link"/>
283+
</joint>
284+
</robot>

‎pyreach/gyms/envs/assets/visual/base.dae‎

Lines changed: 172 additions & 0 deletions
Large diffs are not rendered by default.

0 commit comments

Comments
 (0)