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adding adf files
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lines changed

‎launch/roslaunch_ambf_wrapper.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="ambf_args" default=""/>
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<arg name="launch_file" default="$(find cm_actuation)/launch.yaml " />
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<node pkg="cm_actuation" name="ambf_with_CM_plugin" type="start_ambf_simul_for_roslaunch.sh"
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args="--launch_file $(arg launch_file) $(arg ambf_args)" output="screen"/>
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</launch>

‎simul/ADF/meshes/high_res/cm_act.STL

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‎simul/ADF/meshes/high_res/roll_base.STL

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‎simul/ADF/meshes/low_res/cm_act.STL

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‎simul/ADF/meshes/low_res/roll_base.STL

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‎simul/ADF/roll_and_cm_act.yaml

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# AMBF Version: (0.1)
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# Generated By: ambf_addon for Blender (2.9.0)
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# Link: https://github.com/WPI-AIM/ambf_addon
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# Generated on: 2023-05-09 16:38:43
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bodies:
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- BODY cm_act
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- BODY roll_base
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joints:
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- JOINT roll_base-cm_act
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high resolution path: meshes/high_res/
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low resolution path: meshes/low_res/
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ignore inter-collision: true
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namespace: /ambf/env/
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BODY cm_act:
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name: cm_act
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mesh: cm_act.STL
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collision mesh type: CONVEX_HULL
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mass: 3.0
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collision margin: 0.001
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scale: 1.0
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location:
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position:
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x: 0.0
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y: 0.135
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z: 0.25151
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orientation:
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r: -1.5708
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p: -0.0
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y: 0.0
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inertial offset:
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position:
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x: 0.0
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y: -0.0075
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z: -0.218
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orientation:
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r: 0
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p: 0
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y: 0
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passive: false
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color: random
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publish children names: false
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publish joint names: false
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publish joint positions: false
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friction:
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rolling: 0.0
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static: 0.5
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restitution: 0.1
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damping:
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angular: 0.1
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linear: 0.04
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visible: true
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collision groups: []
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BODY roll_base:
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name: roll_base
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mesh: roll_base.STL
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collision mesh type: CONVEX_HULL
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mass: 3.0
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collision margin: 0.001
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scale: 1.0
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location:
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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orientation:
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r: -3.14159
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p: 1.57079
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y: 0.0
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inertial offset:
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position:
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x: -0.15149
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y: 0.0
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z: -0.0
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orientation:
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r: 0
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p: 0
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y: 0
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passive: false
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color: random
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publish children names: false
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publish joint names: false
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publish joint positions: false
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friction:
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rolling: 0.0
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static: 0.5
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restitution: 0.1
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damping:
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angular: 0.1
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linear: 0.04
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visible: true
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collision groups: []
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JOINT roll_base-cm_act:
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name: roll_base-cm_act
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parent: BODY roll_base
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child: BODY cm_act
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parent axis:
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x: -0.0
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y: 1.0
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z: -0.0
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parent pivot:
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x: -0.25151
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y: -0.045
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z: -0.0
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child axis:
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x: 0.0
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y: -0.0
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z: -1.0
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child pivot:
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x: -0.0
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y: 0.0
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z: -0.09
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enable feedback: false
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passive: false
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controller output type: VELOCITY
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type: revolute
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max motor impulse: 0.05000000074505806
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damping: 0.7
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offset: 1.57079
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joint offset: 1.57079

‎simul/ADF/roll_and_cm_act.yaml.old

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# AMBF Version: (0.1)
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# Generated By: ambf_addon for Blender (2.9.0)
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# Link: https://github.com/WPI-AIM/ambf_addon
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# Generated on: 2023-05-09 12:26:44
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bodies:
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- BODY cm_act
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- BODY roll_base
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joints:
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- JOINT roll_base-cm_act
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high resolution path: meshes/high_res/
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low resolution path: meshes/low_res/
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ignore inter-collision: true
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namespace: /ambf/env/
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BODY cm_act:
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name: cm_act
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mesh: cm_act.STL
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collision mesh type: CONVEX_HULL
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mass: 3.0
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collision margin: 0.001
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scale: 1.0
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location:
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position:
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x: 0.0
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y: 0.215
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z: 0.25151
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orientation:
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r: -1.5708
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p: -0.0
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y: 0.0
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inertial offset:
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position:
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x: 0.0
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y: -0.0075
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z: -0.218
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orientation:
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r: 0
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p: 0
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y: 0
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passive: false
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color: random
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publish children names: false
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publish joint names: false
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publish joint positions: false
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friction:
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rolling: 0.0
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static: 0.5
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restitution: 0.1
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damping:
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angular: 0.1
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linear: 0.04
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visible: true
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collision groups: []
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BODY roll_base:
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name: roll_base
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mesh: roll_base.STL
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collision mesh type: CONVEX_HULL
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mass: 3.0
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collision margin: 0.001
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scale: 1.0
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location:
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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orientation:
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r: -0.0
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p: 1.5708
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y: 0.0
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inertial offset:
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position:
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x: -0.15149
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y: 0.0
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z: -0.0
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orientation:
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r: 0
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p: 0
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y: 0
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passive: false
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color: random
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publish children names: false
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publish joint names: false
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publish joint positions: false
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friction:
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rolling: 0.0
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static: 0.5
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restitution: 0.1
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damping:
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angular: 0.1
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linear: 0.04
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visible: true
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collision groups: []
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JOINT roll_base-cm_act:
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name: roll_base-cm_act
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parent: BODY roll_base
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child: BODY cm_act
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parent axis:
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x: 0.0
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y: -1.0
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z: -0.0
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parent pivot:
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x: -0.25151
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y: 0.045
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z: 0.0
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child axis:
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x: 0.0
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y: 0.0
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z: -1.0
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child pivot:
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x: 0.0
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y: -0.0
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z: -0.17
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enable feedback: false
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passive: false
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controller output type: VELOCITY
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type: revolute
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max motor impulse: 0.05000000074505806
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damping: 0.7
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offset: 1.5708
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joint offset: 1.5708

‎simul/ADF/ur5_to_roll_connection.yaml

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# AMBF Version: (0.1)
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# Generated By: ambf_addon for Blender (2.9.0)
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# Link: https://github.com/WPI-AIM/ambf_addon
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# Generated on: 2022-04-25 04:58:52
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joints:
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- JOINT wrist_3_link_to_roll_base
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# high resolution path: meshes/ur5_to_roll_connection/high_res/
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# low resolution path: meshes/ur5_to_roll_connection/low_res/
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ignore inter-collision: true
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namespace: /ambf/env/ur5_to_roll_connection/
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JOINT wrist_3_link_to_roll_base:
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name: wrist_3_link_to_roll_base
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parent: BODY wrist_3_link
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child: BODY roll_base
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parent axis:
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x: -0.0
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y: 0.0
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z: -1.0
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parent pivot:
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x: 0.0
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y: 0.0823
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z: 0.0
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child axis:
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x: -0.0
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y: 0.0
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z: 1.0
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child pivot:
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x: -0.0
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y: -0.0
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z: -0.0
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enable feedback: false
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passive: false
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type: fixed

‎start_ambf_simul_for_roslaunch.sh

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#!/bin/bash
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/home/$USER/ambf/bin/lin-x86_64/ambf_simulator $@

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