LeroyWaa commited on
Commit
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1 Parent(s): 99ae008
README.md CHANGED
@@ -22,11 +22,13 @@ Below is an interactive demo for the simulated tabletop manipulation domain, see
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  1. Obtain an [OpenAI API Key](https://openai.com/blog/openai-api/)
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  ## Usage
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- 1. Type in desired task name in the box.
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-
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  ## Known Limitations
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  1. The code generation can fail or generate infeasible tasks.
 
 
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- ## Acknowledgemetn
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  Thanks to Jacky's [code-as-policies](https://huggingface.co/spaces/jackyliang42/code-as-policies/tree/main) demo.
 
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  1. Obtain an [OpenAI API Key](https://openai.com/blog/openai-api/)
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  ## Usage
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+ 1. Type in desired task name in the box. Then GenSim will try to run through the pipeline
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+ 2. The task name has the form word separated by dash. For instance, 'place-blue-in-yellow' and 'align-rainbow-along-line'.
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  ## Known Limitations
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  1. The code generation can fail or generate infeasible tasks.
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+ 2. The low-level pick place primitive does not do collision checking and cannot pick up certain objects.
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+ 3. Top-down generation is typically more challenging if the task name is too vague or too distant from motions such as stacking.
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+ ## Acknowledgement
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  Thanks to Jacky's [code-as-policies](https://huggingface.co/spaces/jackyliang42/code-as-policies/tree/main) demo.
app.py CHANGED
@@ -9,8 +9,7 @@ from omegaconf import OmegaConf
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  from moviepy.editor import ImageSequenceClip
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  import gradio as gr
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- from lmp import LMP, LMPFGen
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- from sim import PickPlaceEnv, LMP_wrapper
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  from consts import ALL_BLOCKS, ALL_BOWLS
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  from md_logger import MarkdownLogger
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@@ -139,4 +138,4 @@ if __name__ == '__main__':
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  outputs=[info_run, img_setup, video_run]
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  )
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- demo.launch(debug=True)
 
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  from moviepy.editor import ImageSequenceClip
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  import gradio as gr
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+
 
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  from consts import ALL_BLOCKS, ALL_BOWLS
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  from md_logger import MarkdownLogger
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  outputs=[info_run, img_setup, video_run]
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  )
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+ demo.queue().launch(show_error=True)
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bowl/textured-0008192.obj DELETED
The diff for this file is too large to render. See raw diff
 
lmp.py DELETED
@@ -1,258 +0,0 @@
1
- from time import sleep
2
- import ast
3
- import astunparse
4
- import openai
5
- from openai.error import RateLimitError, APIConnectionError
6
- from pygments import highlight
7
- from pygments.lexers import PythonLexer
8
- from pygments.formatters import TerminalFormatter
9
-
10
-
11
- class LMP:
12
-
13
- def __init__(self, name, cfg, lmp_fgen, fixed_vars, variable_vars, md_logger):
14
- self._name = name
15
- self._cfg = cfg
16
- self._md_logger = md_logger
17
-
18
- with open(self._cfg['prompt_path'], 'r') as f:
19
- self._base_prompt = f.read()
20
-
21
- self._stop_tokens = list(self._cfg['stop'])
22
-
23
- self._lmp_fgen = lmp_fgen
24
-
25
- self._fixed_vars = fixed_vars
26
- self._variable_vars = variable_vars
27
- self.exec_hist = ''
28
-
29
- def clear_exec_hist(self):
30
- self.exec_hist = ''
31
-
32
- def build_prompt(self, query, context=''):
33
- if len(self._variable_vars) > 0:
34
- variable_vars_imports_str = f"from utils import {', '.join(self._variable_vars.keys())}"
35
- else:
36
- variable_vars_imports_str = ''
37
- prompt = self._base_prompt.replace('{variable_vars_imports}', variable_vars_imports_str)
38
-
39
- if self._cfg['maintain_session']:
40
- prompt += f'\n{self.exec_hist}'
41
-
42
- if context != '':
43
- prompt += f'\n{context}'
44
-
45
- use_query = f'{self._cfg["query_prefix"]}{query}{self._cfg["query_suffix"]}'
46
- prompt += f'\n{use_query}'
47
-
48
- return prompt, use_query
49
-
50
- def __call__(self, query, context='', **kwargs):
51
- prompt, use_query = self.build_prompt(query, context=context)
52
-
53
- while True:
54
- try:
55
- code_str = openai.Completion.create(
56
- prompt=prompt,
57
- stop=self._stop_tokens,
58
- temperature=self._cfg['temperature'],
59
- engine=self._cfg['engine'],
60
- max_tokens=self._cfg['max_tokens']
61
- )['choices'][0]['text'].strip()
62
- break
63
- except (RateLimitError, APIConnectionError) as e:
64
- print(f'OpenAI API got err {e}')
65
- print('Retrying after 10s.')
66
- sleep(10)
67
-
68
- if self._cfg['include_context'] and context != '':
69
- to_exec = f'{context}\n{code_str}'
70
- to_log = f'{context}\n{use_query}\n{code_str}'
71
- else:
72
- to_exec = code_str
73
- to_log = f'{use_query}\n{to_exec}'
74
-
75
- to_log_pretty = highlight(to_log, PythonLexer(), TerminalFormatter())
76
- print(f'LMP {self._name} generated code:\n{to_log_pretty}')
77
- self._md_logger.log_text(f'LMP {self._name} Generated Code:')
78
- self._md_logger.log_code(to_log)
79
-
80
- new_fs = self._lmp_fgen.create_new_fs_from_code(code_str)
81
- self._variable_vars.update(new_fs)
82
-
83
- gvars = merge_dicts([self._fixed_vars, self._variable_vars])
84
- lvars = kwargs
85
-
86
- if not self._cfg['debug_mode']:
87
- exec_safe(to_exec, gvars, lvars)
88
-
89
- self.exec_hist += f'\n{to_exec}'
90
-
91
- if self._cfg['maintain_session']:
92
- self._variable_vars.update(lvars)
93
-
94
- if self._cfg['has_return']:
95
- return lvars[self._cfg['return_val_name']]
96
-
97
-
98
- class LMPFGen:
99
-
100
- def __init__(self, cfg, fixed_vars, variable_vars, md_logger):
101
- self._cfg = cfg
102
-
103
- self._stop_tokens = list(self._cfg['stop'])
104
- self._fixed_vars = fixed_vars
105
- self._variable_vars = variable_vars
106
- self._md_logger = md_logger
107
-
108
- with open(self._cfg['prompt_path'], 'r') as f:
109
- self._base_prompt = f.read()
110
-
111
- def create_f_from_sig(self, f_name, f_sig, other_vars=None, fix_bugs=False, return_src=False):
112
- print(f'Creating function: {f_sig}')
113
-
114
- use_query = f'{self._cfg["query_prefix"]}{f_sig}{self._cfg["query_suffix"]}'
115
- prompt = f'{self._base_prompt}\n{use_query}'
116
-
117
- while True:
118
- try:
119
- f_src = openai.Completion.create(
120
- prompt=prompt,
121
- stop=self._stop_tokens,
122
- temperature=self._cfg['temperature'],
123
- engine=self._cfg['engine'],
124
- max_tokens=self._cfg['max_tokens']
125
- )['choices'][0]['text'].strip()
126
- break
127
- except (RateLimitError, APIConnectionError) as e:
128
- print(f'OpenAI API got err {e}')
129
- print('Retrying after 10s.')
130
- sleep(10)
131
-
132
- if fix_bugs:
133
- f_src = openai.Edit.create(
134
- model='code-davinci-edit-001',
135
- input='# ' + f_src,
136
- temperature=0,
137
- instruction='Fix the bug if there is one. Improve readability. Keep same inputs and outputs. Only small changes. No comments.',
138
- )['choices'][0]['text'].strip()
139
-
140
- if other_vars is None:
141
- other_vars = {}
142
- gvars = merge_dicts([self._fixed_vars, self._variable_vars, other_vars])
143
- lvars = {}
144
-
145
- exec_safe(f_src, gvars, lvars)
146
-
147
- f = lvars[f_name]
148
-
149
- to_print = f'{use_query}\n{f_src}'
150
- to_print_pretty = highlight(to_print, PythonLexer(), TerminalFormatter())
151
- print(f'LMPFGen generated code:\n{to_print_pretty}')
152
- self._md_logger.log_text('Generated Function:')
153
- self._md_logger.log_code(to_print)
154
-
155
- if return_src:
156
- return f, f_src
157
- return f
158
-
159
- def create_new_fs_from_code(self, code_str, other_vars=None, fix_bugs=False, return_src=False):
160
- fs, f_assigns = {}, {}
161
- f_parser = FunctionParser(fs, f_assigns)
162
- f_parser.visit(ast.parse(code_str))
163
- for f_name, f_assign in f_assigns.items():
164
- if f_name in fs:
165
- fs[f_name] = f_assign
166
-
167
- if other_vars is None:
168
- other_vars = {}
169
-
170
- new_fs = {}
171
- srcs = {}
172
- for f_name, f_sig in fs.items():
173
- all_vars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars])
174
- if not var_exists(f_name, all_vars):
175
- f, f_src = self.create_f_from_sig(f_name, f_sig, new_fs, fix_bugs=fix_bugs, return_src=True)
176
-
177
- # recursively define child_fs in the function body if needed
178
- f_def_body = astunparse.unparse(ast.parse(f_src).body[0].body)
179
- child_fs, child_f_srcs = self.create_new_fs_from_code(
180
- f_def_body, other_vars=all_vars, fix_bugs=fix_bugs, return_src=True
181
- )
182
-
183
- if len(child_fs) > 0:
184
- new_fs.update(child_fs)
185
- srcs.update(child_f_srcs)
186
-
187
- # redefine parent f so newly created child_fs are in scope
188
- gvars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars])
189
- lvars = {}
190
-
191
- exec_safe(f_src, gvars, lvars)
192
-
193
- f = lvars[f_name]
194
-
195
- new_fs[f_name], srcs[f_name] = f, f_src
196
-
197
- if return_src:
198
- return new_fs, srcs
199
- return new_fs
200
-
201
-
202
- class FunctionParser(ast.NodeTransformer):
203
-
204
- def __init__(self, fs, f_assigns):
205
- super().__init__()
206
- self._fs = fs
207
- self._f_assigns = f_assigns
208
-
209
- def visit_Call(self, node):
210
- self.generic_visit(node)
211
- if isinstance(node.func, ast.Name):
212
- f_sig = astunparse.unparse(node).strip()
213
- f_name = astunparse.unparse(node.func).strip()
214
- self._fs[f_name] = f_sig
215
- return node
216
-
217
- def visit_Assign(self, node):
218
- self.generic_visit(node)
219
- if isinstance(node.value, ast.Call):
220
- assign_str = astunparse.unparse(node).strip()
221
- f_name = astunparse.unparse(node.value.func).strip()
222
- self._f_assigns[f_name] = assign_str
223
- return node
224
-
225
-
226
- def var_exists(name, all_vars):
227
- try:
228
- eval(name, all_vars)
229
- except:
230
- exists = False
231
- else:
232
- exists = True
233
- return exists
234
-
235
-
236
- def merge_dicts(dicts):
237
- return {
238
- k : v
239
- for d in dicts
240
- for k, v in d.items()
241
- }
242
-
243
-
244
- def exec_safe(code_str, gvars=None, lvars=None):
245
- banned_phrases = ['import', '__']
246
- for phrase in banned_phrases:
247
- assert phrase not in code_str
248
-
249
- if gvars is None:
250
- gvars = {}
251
- if lvars is None:
252
- lvars = {}
253
- empty_fn = lambda *args, **kwargs: None
254
- custom_gvars = merge_dicts([
255
- gvars,
256
- {'exec': empty_fn, 'eval': empty_fn}
257
- ])
258
- exec(code_str, custom_gvars, lvars)
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
sim.py DELETED
@@ -1,655 +0,0 @@
1
- import pybullet
2
- from pybullet_utils.bullet_client import BulletClient
3
- import pybullet_data
4
- import threading
5
- from time import sleep
6
- import numpy as np
7
- import os
8
- from consts import BOUNDS, COLORS, PIXEL_SIZE, CORNER_POS
9
- from shapely.geometry import box
10
-
11
-
12
- # Gripper (Robotiq 2F85) code
13
- class Robotiq2F85:
14
- """Gripper handling for Robotiq 2F85."""
15
-
16
- def __init__(self, robot, tool, p):
17
- self.robot = robot
18
- self.tool = tool
19
- self._p = p
20
- pos = [0.1339999999999999, -0.49199999999872496, 0.5]
21
- rot = self._p.getQuaternionFromEuler([np.pi, 0, np.pi])
22
- urdf = 'robotiq_2f_85/robotiq_2f_85.urdf'
23
- self.body = self._p.loadURDF(urdf, pos, rot)
24
- self.n_joints = self._p.getNumJoints(self.body)
25
- self.activated = False
26
-
27
- # Connect gripper base to robot tool.
28
- self._p.createConstraint(self.robot, tool, self.body, 0, jointType=self._p.JOINT_FIXED, jointAxis=[0, 0, 0], parentFramePosition=[0, 0, 0], childFramePosition=[0, 0, -0.07], childFrameOrientation=self._p.getQuaternionFromEuler([0, 0, np.pi / 2]))
29
-
30
- # Set friction coefficients for gripper fingers.
31
- for i in range(self._p.getNumJoints(self.body)):
32
- self._p.changeDynamics(self.body, i, lateralFriction=10.0, spinningFriction=1.0, rollingFriction=1.0, frictionAnchor=True)
33
-
34
- # Start thread to handle additional gripper constraints.
35
- self.motor_joint = 1
36
- self.constraints_thread = threading.Thread(target=self.step)
37
- self.constraints_thread.daemon = True
38
- self.constraints_thread.start()
39
-
40
- # Control joint positions by enforcing hard contraints on gripper behavior.
41
- # Set one joint as the open/close motor joint (other joints should mimic).
42
- def step(self):
43
- while True:
44
- try:
45
- currj = [self._p.getJointState(self.body, i)[0] for i in range(self.n_joints)]
46
- indj = [6, 3, 8, 5, 10]
47
- targj = [currj[1], -currj[1], -currj[1], currj[1], currj[1]]
48
- self._p.setJointMotorControlArray(self.body, indj, self._p.POSITION_CONTROL, targj, positionGains=np.ones(5))
49
- except:
50
- return
51
- sleep(0.001)
52
-
53
- # Close gripper fingers.
54
- def activate(self):
55
- self._p.setJointMotorControl2(self.body, self.motor_joint, self._p.VELOCITY_CONTROL, targetVelocity=1, force=10)
56
- self.activated = True
57
-
58
- # Open gripper fingers.
59
- def release(self):
60
- self._p.setJointMotorControl2(self.body, self.motor_joint, self._p.VELOCITY_CONTROL, targetVelocity=-1, force=10)
61
- self.activated = False
62
-
63
- # If activated and object in gripper: check object contact.
64
- # If activated and nothing in gripper: check gripper contact.
65
- # If released: check proximity to surface (disabled).
66
- def detect_contact(self):
67
- obj, _, ray_frac = self.check_proximity()
68
- if self.activated:
69
- empty = self.grasp_width() < 0.01
70
- cbody = self.body if empty else obj
71
- if obj == self.body or obj == 0:
72
- return False
73
- return self.external_contact(cbody)
74
- # else:
75
- # return ray_frac < 0.14 or self.external_contact()
76
-
77
- # Return if body is in contact with something other than gripper
78
- def external_contact(self, body=None):
79
- if body is None:
80
- body = self.body
81
- pts = self._p.getContactPoints(bodyA=body)
82
- pts = [pt for pt in pts if pt[2] != self.body]
83
- return len(pts) > 0 # pylint: disable=g-explicit-length-test
84
-
85
- def check_grasp(self):
86
- while self.moving():
87
- sleep(0.001)
88
- success = self.grasp_width() > 0.01
89
- return success
90
-
91
- def grasp_width(self):
92
- lpad = np.array(self._p.getLinkState(self.body, 4)[0])
93
- rpad = np.array(self._p.getLinkState(self.body, 9)[0])
94
- dist = np.linalg.norm(lpad - rpad) - 0.047813
95
- return dist
96
-
97
- def check_proximity(self):
98
- ee_pos = np.array(self._p.getLinkState(self.robot, self.tool)[0])
99
- tool_pos = np.array(self._p.getLinkState(self.body, 0)[0])
100
- vec = (tool_pos - ee_pos) / np.linalg.norm((tool_pos - ee_pos))
101
- ee_targ = ee_pos + vec
102
- ray_data = self._p.rayTest(ee_pos, ee_targ)[0]
103
- obj, link, ray_frac = ray_data[0], ray_data[1], ray_data[2]
104
- return obj, link, ray_frac
105
-
106
-
107
- # Gym-style environment code
108
- class PickPlaceEnv():
109
-
110
- def __init__(self, render=False, high_res=False, high_frame_rate=False):
111
- self.dt = 1/480
112
- self.sim_step = 0
113
-
114
- # Configure and start PyBullet
115
- # self._p = pybullet.connect(pybullet.DIRECT)
116
- self._p = BulletClient(connection_mode=pybullet.DIRECT)
117
- self._p.configureDebugVisualizer(self._p.COV_ENABLE_GUI, 0)
118
- self._p.setPhysicsEngineParameter(enableFileCaching=0)
119
- assets_path = os.path.dirname(os.path.abspath(""))
120
- self._p.setAdditionalSearchPath(assets_path)
121
- self._p.setAdditionalSearchPath(pybullet_data.getDataPath())
122
- self._p.setTimeStep(self.dt)
123
-
124
- self.home_joints = (np.pi / 2, -np.pi / 2, np.pi / 2, -np.pi / 2, 3 * np.pi / 2, 0) # Joint angles: (J0, J1, J2, J3, J4, J5).
125
- self.home_ee_euler = (np.pi, 0, np.pi) # (RX, RY, RZ) rotation in Euler angles.
126
- self.ee_link_id = 9 # Link ID of UR5 end effector.
127
- self.tip_link_id = 10 # Link ID of gripper finger tips.
128
- self.gripper = None
129
-
130
- self.render = render
131
- self.high_res = high_res
132
- self.high_frame_rate = high_frame_rate
133
-
134
- def reset(self, object_list):
135
- self._p.resetSimulation(self._p.RESET_USE_DEFORMABLE_WORLD)
136
- self._p.setGravity(0, 0, -9.8)
137
- self.cache_video = []
138
-
139
- # Temporarily disable rendering to load URDFs faster.
140
- self._p.configureDebugVisualizer(self._p.COV_ENABLE_RENDERING, 0)
141
-
142
- # Add robot.
143
- self._p.loadURDF("plane.urdf", [0, 0, -0.001])
144
- self.robot_id = self._p.loadURDF("ur5e/ur5e.urdf", [0, 0, 0], flags=self._p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
145
- self.ghost_id = self._p.loadURDF("ur5e/ur5e.urdf", [0, 0, -10]) # For forward kinematics.
146
- self.joint_ids = [self._p.getJointInfo(self.robot_id, i) for i in range(self._p.getNumJoints(self.robot_id))]
147
- self.joint_ids = [j[0] for j in self.joint_ids if j[2] == self._p.JOINT_REVOLUTE]
148
-
149
- # Move robot to home configuration.
150
- for i in range(len(self.joint_ids)):
151
- self._p.resetJointState(self.robot_id, self.joint_ids[i], self.home_joints[i])
152
-
153
- # Add gripper.
154
- if self.gripper is not None:
155
- while self.gripper.constraints_thread.is_alive():
156
- self.constraints_thread_active = False
157
- self.gripper = Robotiq2F85(self.robot_id, self.ee_link_id, self._p)
158
- self.gripper.release()
159
-
160
- # Add workspace.
161
- plane_shape = self._p.createCollisionShape(self._p.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001])
162
- plane_visual = self._p.createVisualShape(self._p.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001])
163
- plane_id = self._p.createMultiBody(0, plane_shape, plane_visual, basePosition=[0, -0.5, 0])
164
- self._p.changeVisualShape(plane_id, -1, rgbaColor=[0.2, 0.2, 0.2, 1.0])
165
-
166
- # Load objects according to config.
167
- self.object_list = object_list
168
- self.obj_name_to_id = {}
169
- obj_xyz = np.zeros((0, 3))
170
- for obj_name in object_list:
171
- if ('block' in obj_name) or ('bowl' in obj_name):
172
-
173
- # Get random position 15cm+ from other objects.
174
- while True:
175
- rand_x = np.random.uniform(BOUNDS[0, 0] + 0.1, BOUNDS[0, 1] - 0.1)
176
- rand_y = np.random.uniform(BOUNDS[1, 0] + 0.1, BOUNDS[1, 1] - 0.1)
177
- rand_xyz = np.float32([rand_x, rand_y, 0.03]).reshape(1, 3)
178
- if len(obj_xyz) == 0:
179
- obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0)
180
- break
181
- else:
182
- nn_dist = np.min(np.linalg.norm(obj_xyz - rand_xyz, axis=1)).squeeze()
183
- if nn_dist > 0.15:
184
- obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0)
185
- break
186
-
187
- object_color = COLORS[obj_name.split(' ')[0]]
188
- object_type = obj_name.split(' ')[1]
189
- object_position = rand_xyz.squeeze()
190
- if object_type == 'block':
191
- object_shape = self._p.createCollisionShape(self._p.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02])
192
- object_visual = self._p.createVisualShape(self._p.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02])
193
- object_id = self._p.createMultiBody(0.01, object_shape, object_visual, basePosition=object_position)
194
- elif object_type == 'bowl':
195
- object_position[2] = 0
196
- object_id = self._p.loadURDF("bowl/bowl.urdf", object_position, useFixedBase=1)
197
- self._p.changeVisualShape(object_id, -1, rgbaColor=object_color)
198
- self.obj_name_to_id[obj_name] = object_id
199
-
200
- # Re-enable rendering.
201
- self._p.configureDebugVisualizer(self._p.COV_ENABLE_RENDERING, 1)
202
-
203
- for _ in range(200):
204
- self._p.stepSimulation()
205
-
206
- # record object positions at reset
207
- self.init_pos = {name: self.get_obj_pos(name) for name in object_list}
208
-
209
- return self.get_observation()
210
-
211
- def servoj(self, joints):
212
- """Move to target joint positions with position control."""
213
- self._p.setJointMotorControlArray(
214
- bodyIndex=self.robot_id,
215
- jointIndices=self.joint_ids,
216
- controlMode=self._p.POSITION_CONTROL,
217
- targetPositions=joints,
218
- positionGains=[0.01]*6)
219
-
220
- def movep(self, position):
221
- """Move to target end effector position."""
222
- joints = self._p.calculateInverseKinematics(
223
- bodyUniqueId=self.robot_id,
224
- endEffectorLinkIndex=self.tip_link_id,
225
- targetPosition=position,
226
- targetOrientation=self._p.getQuaternionFromEuler(self.home_ee_euler),
227
- maxNumIterations=100)
228
- self.servoj(joints)
229
-
230
- def get_ee_pos(self):
231
- ee_xyz = np.float32(self._p.getLinkState(self.robot_id, self.tip_link_id)[0])
232
- return ee_xyz
233
-
234
- def step(self, action=None):
235
- """Do pick and place motion primitive."""
236
- pick_pos, place_pos = action['pick'].copy(), action['place'].copy()
237
-
238
- # Set fixed primitive z-heights.
239
- hover_xyz = np.float32([pick_pos[0], pick_pos[1], 0.2])
240
- if pick_pos.shape[-1] == 2:
241
- pick_xyz = np.append(pick_pos, 0.025)
242
- else:
243
- pick_xyz = pick_pos
244
- pick_xyz[2] = 0.025
245
- if place_pos.shape[-1] == 2:
246
- place_xyz = np.append(place_pos, 0.15)
247
- else:
248
- place_xyz = place_pos
249
- place_xyz[2] = 0.15
250
-
251
- # Move to object.
252
- ee_xyz = self.get_ee_pos()
253
- while np.linalg.norm(hover_xyz - ee_xyz) > 0.01:
254
- self.movep(hover_xyz)
255
- self.step_sim_and_render()
256
- ee_xyz = self.get_ee_pos()
257
-
258
- while np.linalg.norm(pick_xyz - ee_xyz) > 0.01:
259
- self.movep(pick_xyz)
260
- self.step_sim_and_render()
261
- ee_xyz = self.get_ee_pos()
262
-
263
- # Pick up object.
264
- self.gripper.activate()
265
- for _ in range(240):
266
- self.step_sim_and_render()
267
- while np.linalg.norm(hover_xyz - ee_xyz) > 0.01:
268
- self.movep(hover_xyz)
269
- self.step_sim_and_render()
270
- ee_xyz = self.get_ee_pos()
271
-
272
- for _ in range(50):
273
- self.step_sim_and_render()
274
-
275
- # Move to place location.
276
- while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
277
- self.movep(place_xyz)
278
- self.step_sim_and_render()
279
- ee_xyz = self.get_ee_pos()
280
-
281
- # Place down object.
282
- while (not self.gripper.detect_contact()) and (place_xyz[2] > 0.03):
283
- place_xyz[2] -= 0.001
284
- self.movep(place_xyz)
285
- for _ in range(3):
286
- self.step_sim_and_render()
287
- self.gripper.release()
288
- for _ in range(240):
289
- self.step_sim_and_render()
290
- place_xyz[2] = 0.2
291
- ee_xyz = self.get_ee_pos()
292
- while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
293
- self.movep(place_xyz)
294
- self.step_sim_and_render()
295
- ee_xyz = self.get_ee_pos()
296
- place_xyz = np.float32([0, -0.5, 0.2])
297
- while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
298
- self.movep(place_xyz)
299
- self.step_sim_and_render()
300
- ee_xyz = self.get_ee_pos()
301
-
302
- observation = self.get_observation()
303
- reward = self.get_reward()
304
- done = False
305
- info = {}
306
- return observation, reward, done, info
307
-
308
- def set_alpha_transparency(self, alpha: float) -> None:
309
- for id in range(20):
310
- visual_shape_data = self._p.getVisualShapeData(id)
311
- for i in range(len(visual_shape_data)):
312
- object_id, link_index, _, _, _, _, _, rgba_color = visual_shape_data[i]
313
- rgba_color = list(rgba_color[0:3]) + [alpha]
314
- self._p.changeVisualShape(
315
- self.robot_id, linkIndex=i, rgbaColor=rgba_color)
316
- self._p.changeVisualShape(
317
- self.gripper.body, linkIndex=i, rgbaColor=rgba_color)
318
-
319
- def step_sim_and_render(self):
320
- self._p.stepSimulation()
321
- self.sim_step += 1
322
-
323
- interval = 40 if self.high_frame_rate else 60
324
- # Render current image at 8 FPS.
325
- if self.sim_step % interval == 0 and self.render:
326
- self.cache_video.append(self.get_camera_image())
327
-
328
- def get_camera_image(self):
329
- if not self.high_res:
330
- image_size = (240, 240)
331
- intrinsics = (120., 0, 120., 0, 120., 120., 0, 0, 1)
332
- else:
333
- image_size=(360, 360)
334
- intrinsics=(180., 0, 180., 0, 180., 180., 0, 0, 1)
335
- color, _, _, _, _ = self.render_image(image_size, intrinsics)
336
- return color
337
-
338
- def get_reward(self):
339
- return None
340
-
341
- def get_observation(self):
342
- observation = {}
343
-
344
- # Render current image.
345
- color, depth, position, orientation, intrinsics = self.render_image()
346
-
347
- # Get heightmaps and colormaps.
348
- points = self.get_pointcloud(depth, intrinsics)
349
- position = np.float32(position).reshape(3, 1)
350
- rotation = self._p.getMatrixFromQuaternion(orientation)
351
- rotation = np.float32(rotation).reshape(3, 3)
352
- transform = np.eye(4)
353
- transform[:3, :] = np.hstack((rotation, position))
354
- points = self.transform_pointcloud(points, transform)
355
- heightmap, colormap, xyzmap = self.get_heightmap(points, color, BOUNDS, PIXEL_SIZE)
356
-
357
- observation["image"] = colormap
358
- observation["xyzmap"] = xyzmap
359
-
360
- return observation
361
-
362
- def render_image(self, image_size=(720, 720), intrinsics=(360., 0, 360., 0, 360., 360., 0, 0, 1)):
363
-
364
- # Camera parameters.
365
- position = (0, -0.85, 0.4)
366
- orientation = (np.pi / 4 + np.pi / 48, np.pi, np.pi)
367
- orientation = self._p.getQuaternionFromEuler(orientation)
368
- zrange = (0.01, 10.)
369
- noise=True
370
-
371
- # OpenGL camera settings.
372
- lookdir = np.float32([0, 0, 1]).reshape(3, 1)
373
- updir = np.float32([0, -1, 0]).reshape(3, 1)
374
- rotation = self._p.getMatrixFromQuaternion(orientation)
375
- rotm = np.float32(rotation).reshape(3, 3)
376
- lookdir = (rotm @ lookdir).reshape(-1)
377
- updir = (rotm @ updir).reshape(-1)
378
- lookat = position + lookdir
379
- focal_len = intrinsics[0]
380
- znear, zfar = (0.01, 10.)
381
- viewm = self._p.computeViewMatrix(position, lookat, updir)
382
- fovh = (image_size[0] / 2) / focal_len
383
- fovh = 180 * np.arctan(fovh) * 2 / np.pi
384
-
385
- # Notes: 1) FOV is vertical FOV 2) aspect must be float
386
- aspect_ratio = image_size[1] / image_size[0]
387
- projm = self._p.computeProjectionMatrixFOV(fovh, aspect_ratio, znear, zfar)
388
-
389
- # Render with OpenGL camera settings.
390
- _, _, color, depth, segm = self._p.getCameraImage(
391
- width=image_size[1],
392
- height=image_size[0],
393
- viewMatrix=viewm,
394
- projectionMatrix=projm,
395
- shadow=1,
396
- flags=self._p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
397
- renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
398
-
399
- # Get color image.
400
- color_image_size = (image_size[0], image_size[1], 4)
401
- color = np.array(color, dtype=np.uint8).reshape(color_image_size)
402
- color = color[:, :, :3] # remove alpha channel
403
- if noise:
404
- color = np.int32(color)
405
- color += np.int32(np.random.normal(0, 3, color.shape))
406
- color = np.uint8(np.clip(color, 0, 255))
407
-
408
- # Get depth image.
409
- depth_image_size = (image_size[0], image_size[1])
410
- zbuffer = np.float32(depth).reshape(depth_image_size)
411
- depth = (zfar + znear - (2 * zbuffer - 1) * (zfar - znear))
412
- depth = (2 * znear * zfar) / depth
413
- if noise:
414
- depth += np.random.normal(0, 0.003, depth.shape)
415
-
416
- intrinsics = np.float32(intrinsics).reshape(3, 3)
417
- return color, depth, position, orientation, intrinsics
418
-
419
- def get_pointcloud(self, depth, intrinsics):
420
- """Get 3D pointcloud from perspective depth image.
421
- Args:
422
- depth: HxW float array of perspective depth in meters.
423
- intrinsics: 3x3 float array of camera intrinsics matrix.
424
- Returns:
425
- points: HxWx3 float array of 3D points in camera coordinates.
426
- """
427
- height, width = depth.shape
428
- xlin = np.linspace(0, width - 1, width)
429
- ylin = np.linspace(0, height - 1, height)
430
- px, py = np.meshgrid(xlin, ylin)
431
- px = (px - intrinsics[0, 2]) * (depth / intrinsics[0, 0])
432
- py = (py - intrinsics[1, 2]) * (depth / intrinsics[1, 1])
433
- points = np.float32([px, py, depth]).transpose(1, 2, 0)
434
- return points
435
-
436
- def transform_pointcloud(self, points, transform):
437
- """Apply rigid transformation to 3D pointcloud.
438
- Args:
439
- points: HxWx3 float array of 3D points in camera coordinates.
440
- transform: 4x4 float array representing a rigid transformation matrix.
441
- Returns:
442
- points: HxWx3 float array of transformed 3D points.
443
- """
444
- padding = ((0, 0), (0, 0), (0, 1))
445
- homogen_points = np.pad(points.copy(), padding,
446
- 'constant', constant_values=1)
447
- for i in range(3):
448
- points[Ellipsis, i] = np.sum(transform[i, :] * homogen_points, axis=-1)
449
- return points
450
-
451
- def get_heightmap(self, points, colors, bounds, pixel_size):
452
- """Get top-down (z-axis) orthographic heightmap image from 3D pointcloud.
453
- Args:
454
- points: HxWx3 float array of 3D points in world coordinates.
455
- colors: HxWx3 uint8 array of values in range 0-255 aligned with points.
456
- bounds: 3x2 float array of values (rows: X,Y,Z; columns: min,max) defining
457
- region in 3D space to generate heightmap in world coordinates.
458
- pixel_size: float defining size of each pixel in meters.
459
- Returns:
460
- heightmap: HxW float array of height (from lower z-bound) in meters.
461
- colormap: HxWx3 uint8 array of backprojected color aligned with heightmap.
462
- xyzmap: HxWx3 float array of XYZ points in world coordinates.
463
- """
464
- width = int(np.round((bounds[0, 1] - bounds[0, 0]) / pixel_size))
465
- height = int(np.round((bounds[1, 1] - bounds[1, 0]) / pixel_size))
466
- heightmap = np.zeros((height, width), dtype=np.float32)
467
- colormap = np.zeros((height, width, colors.shape[-1]), dtype=np.uint8)
468
- xyzmap = np.zeros((height, width, 3), dtype=np.float32)
469
-
470
- # Filter out 3D points that are outside of the predefined bounds.
471
- ix = (points[Ellipsis, 0] >= bounds[0, 0]) & (points[Ellipsis, 0] < bounds[0, 1])
472
- iy = (points[Ellipsis, 1] >= bounds[1, 0]) & (points[Ellipsis, 1] < bounds[1, 1])
473
- iz = (points[Ellipsis, 2] >= bounds[2, 0]) & (points[Ellipsis, 2] < bounds[2, 1])
474
- valid = ix & iy & iz
475
- points = points[valid]
476
- colors = colors[valid]
477
-
478
- # Sort 3D points by z-value, which works with array assignment to simulate
479
- # z-buffering for rendering the heightmap image.
480
- iz = np.argsort(points[:, -1])
481
- points, colors = points[iz], colors[iz]
482
- px = np.int32(np.floor((points[:, 0] - bounds[0, 0]) / pixel_size))
483
- py = np.int32(np.floor((points[:, 1] - bounds[1, 0]) / pixel_size))
484
- px = np.clip(px, 0, width - 1)
485
- py = np.clip(py, 0, height - 1)
486
- heightmap[py, px] = points[:, 2] - bounds[2, 0]
487
- for c in range(colors.shape[-1]):
488
- colormap[py, px, c] = colors[:, c]
489
- xyzmap[py, px, c] = points[:, c]
490
- colormap = colormap[::-1, :, :] # Flip up-down.
491
- xv, yv = np.meshgrid(np.linspace(BOUNDS[0, 0], BOUNDS[0, 1], height),
492
- np.linspace(BOUNDS[1, 0], BOUNDS[1, 1], width))
493
- xyzmap[:, :, 0] = xv
494
- xyzmap[:, :, 1] = yv
495
- xyzmap = xyzmap[::-1, :, :] # Flip up-down.
496
- heightmap = heightmap[::-1, :] # Flip up-down.
497
- return heightmap, colormap, xyzmap
498
-
499
- def on_top_of(self, obj_a, obj_b):
500
- """
501
- check if obj_a is on top of obj_b
502
- condition 1: l2 distance on xy plane is less than a threshold
503
- condition 2: obj_a is higher than obj_b
504
- """
505
- obj_a_pos = self.get_obj_pos(obj_a)
506
- obj_b_pos = self.get_obj_pos(obj_b)
507
- xy_dist = np.linalg.norm(obj_a_pos[:2] - obj_b_pos[:2])
508
- if obj_b in CORNER_POS:
509
- is_near = xy_dist < 0.06
510
- return is_near
511
- elif 'bowl' in obj_b:
512
- is_near = xy_dist < 0.06
513
- is_higher = obj_a_pos[2] > obj_b_pos[2]
514
- return is_near and is_higher
515
- else:
516
- is_near = xy_dist < 0.04
517
- is_higher = obj_a_pos[2] > obj_b_pos[2]
518
- return is_near and is_higher
519
-
520
- def get_obj_id(self, obj_name):
521
- try:
522
- if obj_name in self.obj_name_to_id:
523
- obj_id = self.obj_name_to_id[obj_name]
524
- else:
525
- obj_name = obj_name.replace('circle', 'bowl').replace('square', 'block').replace('small', '').strip()
526
- obj_id = self.obj_name_to_id[obj_name]
527
- return obj_id
528
- except:
529
- raise Exception('Object name "{}" not found'.format(obj_name))
530
-
531
- def get_obj_pos(self, obj_name):
532
- obj_name = obj_name.replace('the', '').replace('_', ' ').strip()
533
- if obj_name in CORNER_POS:
534
- position = np.float32(np.array(CORNER_POS[obj_name]))
535
- else:
536
- pick_id = self.get_obj_id(obj_name)
537
- pose = self._p.getBasePositionAndOrientation(pick_id)
538
- position = np.float32(pose[0])
539
- return position
540
-
541
- def get_bounding_box(self, obj_name):
542
- obj_id = self.get_obj_id(obj_name)
543
- return self._p.getAABB(obj_id)
544
-
545
-
546
- class LMP_wrapper():
547
-
548
- def __init__(self, env, cfg, render=False):
549
- self.env = env
550
- self._cfg = cfg
551
- self.object_names = list(self._cfg['env']['init_objs'])
552
-
553
- self._min_xy = np.array(self._cfg['env']['coords']['bottom_left'])
554
- self._max_xy = np.array(self._cfg['env']['coords']['top_right'])
555
- self._range_xy = self._max_xy - self._min_xy
556
-
557
- self._table_z = self._cfg['env']['coords']['table_z']
558
- self.render = render
559
-
560
- def is_obj_visible(self, obj_name):
561
- return obj_name in self.object_names
562
-
563
- def get_obj_names(self):
564
- return self.object_names[::]
565
-
566
- def denormalize_xy(self, pos_normalized):
567
- return pos_normalized * self._range_xy + self._min_xy
568
-
569
- def get_corner_positions(self):
570
- unit_square = box(0, 0, 1, 1)
571
- normalized_corners = np.array(list(unit_square.exterior.coords))[:4]
572
- corners = np.array(([self.denormalize_xy(corner) for corner in normalized_corners]))
573
- return corners
574
-
575
- def get_side_positions(self):
576
- side_xs = np.array([0, 0.5, 0.5, 1])
577
- side_ys = np.array([0.5, 0, 1, 0.5])
578
- normalized_side_positions = np.c_[side_xs, side_ys]
579
- side_positions = np.array(([self.denormalize_xy(corner) for corner in normalized_side_positions]))
580
- return side_positions
581
-
582
- def get_obj_pos(self, obj_name):
583
- # return the xy position of the object in robot base frame
584
- return self.env.get_obj_pos(obj_name)[:2]
585
-
586
- def get_obj_position_np(self, obj_name):
587
- return self.get_pos(obj_name)
588
-
589
- def get_bbox(self, obj_name):
590
- # return the axis-aligned object bounding box in robot base frame (not in pixels)
591
- # the format is (min_x, min_y, max_x, max_y)
592
- bbox = self.env.get_bounding_box(obj_name)
593
- return bbox
594
-
595
- def get_color(self, obj_name):
596
- for color, rgb in COLORS.items():
597
- if color in obj_name:
598
- return rgb
599
-
600
- def pick_place(self, pick_pos, place_pos):
601
- pick_pos_xyz = np.r_[pick_pos, [self._table_z]]
602
- place_pos_xyz = np.r_[place_pos, [self._table_z]]
603
- pass
604
-
605
- def put_first_on_second(self, arg1, arg2):
606
- # put the object with obj_name on top of target
607
- # target can either be another object name, or it can be an x-y position in robot base frame
608
- pick_pos = self.get_obj_pos(arg1) if isinstance(arg1, str) else arg1
609
- place_pos = self.get_obj_pos(arg2) if isinstance(arg2, str) else arg2
610
- self.env.step(action={'pick': pick_pos, 'place': place_pos})
611
-
612
- def get_robot_pos(self):
613
- # return robot end-effector xy position in robot base frame
614
- return self.env.get_ee_pos()
615
-
616
- def goto_pos(self, position_xy):
617
- # move the robot end-effector to the desired xy position while maintaining same z
618
- ee_xyz = self.env.get_ee_pos()
619
- position_xyz = np.concatenate([position_xy, ee_xyz[-1]])
620
- while np.linalg.norm(position_xyz - ee_xyz) > 0.01:
621
- self.env.movep(position_xyz)
622
- self.env.step_sim_and_render()
623
- ee_xyz = self.env.get_ee_pos()
624
-
625
- def follow_traj(self, traj):
626
- for pos in traj:
627
- self.goto_pos(pos)
628
-
629
- def get_corner_positions(self):
630
- normalized_corners = np.array([
631
- [0, 1],
632
- [1, 1],
633
- [0, 0],
634
- [1, 0]
635
- ])
636
- return np.array(([self.denormalize_xy(corner) for corner in normalized_corners]))
637
-
638
- def get_side_positions(self):
639
- normalized_sides = np.array([
640
- [0.5, 1],
641
- [1, 0.5],
642
- [0.5, 0],
643
- [0, 0.5]
644
- ])
645
- return np.array(([self.denormalize_xy(side) for side in normalized_sides]))
646
-
647
- def get_corner_name(self, pos):
648
- corner_positions = self.get_corner_positions()
649
- corner_idx = np.argmin(np.linalg.norm(corner_positions - pos, axis=1))
650
- return ['top left corner', 'top right corner', 'bottom left corner', 'botom right corner'][corner_idx]
651
-
652
- def get_side_name(self, pos):
653
- side_positions = self.get_side_positions()
654
- side_idx = np.argmin(np.linalg.norm(side_positions - pos, axis=1))
655
- return ['top side', 'right side', 'bottom side', 'left side'][side_idx]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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ur5e/ur5e.urdf DELETED
@@ -1,279 +0,0 @@
1
- <?xml version="1.0" ?>
2
- <!-- ============================================================================================= -->
3
- <!-- | This document was autogenerated by xacro from ur_description/urdf/ur5_robot.urdf.xacro | -->
4
- <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
5
- <!-- ============================================================================================= -->
6
- <robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
7
- <material name="LightGrey">
8
- <color rgba="0.8 0.8 0.8 1.0"/>
9
- </material>
10
-
11
- <material name="DarkGrey">
12
- <color rgba="0.2 0.2 0.2 1.0"/>
13
- </material>
14
-
15
- <link name="base_link">
16
- <visual>
17
- <geometry>
18
- <mesh filename="visual/base.dae"/>
19
- </geometry>
20
- <material name="LightGrey"/>
21
- </visual>
22
- <!-- <collision>
23
- <geometry>
24
- <mesh filename="collision/base.stl"/>
25
- </geometry>
26
- </collision> -->
27
- <inertial>
28
- <mass value="4.0"/>
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- </inertial>
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- </link>
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- <joint name="shoulder_pan_joint" type="revolute">
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- <parent link="base_link"/>
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- <child link="shoulder_link"/>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.163"/>
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- <link name="shoulder_link">
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- <geometry>
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- <mesh filename="visual/shoulder.dae"/>
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- </geometry>
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- <material name="DarkGrey"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <mesh filename="collision/shoulder.stl"/>
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- </geometry>
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- </collision> -->
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- <inertial>
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- <mass value="3.7"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- </inertial>
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- </link>
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- <joint name="shoulder_lift_joint" type="revolute">
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- <parent link="shoulder_link"/>
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- <child link="upper_arm_link"/>
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- <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.138 0.0"/>
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- <axis xyz="0 1 0"/>
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- <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
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- <dynamics damping="0.0" friction="0.0"/>
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- <link name="upper_arm_link">
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- <visual>
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- <geometry>
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- <mesh filename="visual/upperarm.dae"/>
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- </geometry>
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- <material name="LightGrey"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <mesh filename="collision/upperarm.stl"/>
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- </geometry>
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- </collision> -->
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- <inertial>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
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- <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
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- </inertial>
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- </link>
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- <joint name="elbow_joint" type="revolute">
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- <parent link="upper_arm_link"/>
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- <child link="forearm_link"/>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.131 0.425"/>
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- <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
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- <dynamics damping="0.0" friction="0.0"/>
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- </joint>
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- <link name="forearm_link">
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- <visual>
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- <geometry>
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- <mesh filename="visual/forearm.dae"/>
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- <material name="DarkGrey"/>
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- <!-- <collision>
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- <geometry>
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- <mesh filename="collision/forearm.stl"/>
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- </geometry>
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- </collision> -->
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- <inertial>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
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- <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
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- </link>
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- <joint name="wrist_1_joint" type="revolute">
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- <parent link="forearm_link"/>
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- <child link="wrist_1_link"/>
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- <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.392"/>
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- <axis xyz="0 1 0"/>
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- <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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- </joint>
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- <link name="wrist_1_link">
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- <visual>
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- <geometry>
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- <mesh filename="visual/wrist1.dae"/>
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- </geometry>
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- <material name="LightGrey"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <mesh filename="collision/wrist1.stl"/>
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- </geometry>
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- </collision> -->
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- <inertial>
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- <mass value="1.219"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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- </link>
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- <joint name="wrist_2_joint" type="revolute">
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- <parent link="wrist_1_link"/>
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- <child link="wrist_2_link"/>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.127 0.0"/>
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- <axis xyz="0 0 1"/>
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- <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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- <dynamics damping="0.0" friction="0.0"/>
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- </joint>
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- <link name="wrist_2_link">
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- <visual>
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- <geometry>
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- <mesh filename="visual/wrist2.dae"/>
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- </geometry>
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- <material name="DarkGrey"/>
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- <collision>
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- <geometry>
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- <mesh filename="collision/wrist2.stl"/>
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- <inertial>
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- <mass value="1.219"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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- </inertial>
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- </link>
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- <joint name="wrist_3_joint" type="revolute">
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- <parent link="wrist_2_link"/>
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- <child link="wrist_3_link"/>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.100"/>
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- <axis xyz="0 1 0"/>
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- <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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- <dynamics damping="0.0" friction="0.0"/>
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- </joint>
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- <link name="wrist_3_link">
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- <visual>
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- <geometry>
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- <mesh filename="visual/wrist3.dae"/>
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- </geometry>
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- <material name="LightGrey"/>
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- <collision>
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- <geometry>
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- <mesh filename="collision/wrist3.stl"/>
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- </geometry>
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- <inertial>
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- <mass value="0.1879"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
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- </inertial>
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- </link>
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- <joint name="ee_fixed_joint" type="fixed">
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- <parent link="wrist_3_link"/>
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- <child link="ee_link"/>
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- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.100 0.0"/>
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- </joint>
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- <link name="ee_link">
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- <!-- <collision>
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- <geometry>
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- <box size="0.01 0.01 0.01"/>
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- <origin rpy="0 0 0" xyz="-0.01 0 0"/>
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- <inertial>
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- <mass value="0.0"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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- </inertial>
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- </link>
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- <!-- nothing to do here at the moment -->
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- <!-- ROS base_link to UR 'Base' Coordinates transform -->
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- <link name="base">
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- <inertial>
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- <mass value="0.0"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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- </inertial>
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- </link>
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- <joint name="base_link-base_fixed_joint" type="fixed">
217
- <!-- NOTE: this rotation is only needed as long as base_link itself is
218
- not corrected wrt the real robot (ie: rotated over 180
219
- degrees)
220
- -->
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- <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
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- <parent link="base_link"/>
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- <child link="base"/>
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- </joint>
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- <!-- Frame coincident with all-zeros TCP on UR controller -->
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- <link name="tool0">
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- <inertial>
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- <mass value="0.0"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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- </inertial>
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- </link>
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- <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
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- <origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
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- <parent link="wrist_3_link"/>
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- <child link="tool0"/>
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- </joint>
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-
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- <link name="tool_tip">
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- <inertial>
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- <mass value="0.0"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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- </inertial>
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- <!-- <visual>
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- <geometry>
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- <box size="0.01 0.01 0.01"/>
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- </geometry>
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- <material name="DarkGrey"/>
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- <origin rpy="0 0 0" xyz="0 0 0"/>
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- </visual> -->
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- </link>
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- <joint name="tool0_fixed_joint-tool_tip" type="fixed">
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- <origin rpy="0 0 0" xyz="0 0 0.175"/>
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- <parent link="tool0"/>
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- <child link="tool_tip"/>
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- </joint>
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-
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- <link name="world"/>
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- <joint name="world_joint" type="fixed">
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- <parent link="world"/>
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- <child link="rotated_base_link"/>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </joint>
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-
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- <link name="rotated_base_link">
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- <inertial>
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- <mass value="0.0"/>
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- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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- </inertial>
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- </link>>
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-
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- <joint name="rotated_base-base_fixed_joint" type="fixed">
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- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793"/>
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- <parent link="rotated_base_link"/>
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- <child link="base_link"/>
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- </joint>
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- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
ur5e/visual/base.dae DELETED
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ur5e/visual/forearm.dae DELETED
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ur5e/visual/shoulder.dae DELETED
The diff for this file is too large to render. See raw diff
 
ur5e/visual/upperarm.dae DELETED
The diff for this file is too large to render. See raw diff
 
ur5e/visual/wrist1.dae DELETED
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ur5e/visual/wrist2.dae DELETED
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ur5e/visual/wrist3.dae DELETED
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149 192 150 192 77 193 150 193 76 193 76 194 150 194 151 194 76 195 151 195 75 195 75 196 151 196 152 196 75 197 152 197 74 197 74 198 152 198 153 198 74 199 153 199 69 199 69 200 153 200 154 200 69 201 154 201 73 201 73 202 154 202 155 202 73 203 155 203 72 203 72 204 155 204 156 204 72 205 156 205 71 205 71 206 156 206 157 206 71 207 157 207 68 207 68 208 157 208 158 208 68 209 158 209 70 209 70 210 158 210 149 210 78 211 159 211 160 211 78 212 160 212 87 212 87 213 160 213 86 213 86 214 160 214 161 214 86 215 161 215 85 215 85 216 161 216 162 216 85 217 162 217 84 217 84 218 162 218 79 218 79 219 162 219 163 219 79 220 163 220 83 220 83 221 163 221 164 221 83 222 164 222 82 222 82 223 164 223 165 223 82 224 165 224 81 224 81 225 165 225 166 225 81 226 166 226 80 226 80 227 166 227 167 227 80 228 167 228 78 228 78 229 167 229 159 229 88 230 168 230 169 230 88 231 169 231 97 231 97 232 169 232 96 232 96 233 169 233 170 233 96 234 170 234 171 234 96 235 171 235 95 235 95 236 171 236 94 236 94 237 171 237 172 237 94 238 172 238 89 238 89 239 172 239 173 239 89 240 173 240 93 240 93 241 173 241 174 241 93 242 174 242 92 242 92 243 174 243 175 243 92 244 175 244 91 244 91 245 175 245 176 245 91 246 176 246 90 246 90 247 176 247 177 247 90 248 177 248 168 248 90 249 168 249 88 249 178 250 98 250 100 250 100 251 179 251 178 251 101 252 179 252 100 252 101 253 180 253 179 253 103 254 181 254 101 254 101 255 181 255 180 255 102 256 182 256 103 256 103 257 182 257 181 257 104 258 183 258 102 258 102 259 183 259 182 259 106 260 184 260 104 260 104 261 184 261 183 261 105 262 185 262 106 262 106 263 185 263 184 263 107 264 186 264 105 264 105 265 186 265 185 265 109 266 187 266 107 266 107 267 187 267 186 267 108 268 188 268 109 268 109 269 188 269 187 269 108 270 189 270 188 270 110 271 190 271 108 271 108 272 190 272 189 272 110 273 191 273 190 273 112 274 191 274 110 274 112 275 192 275 191 275 111 276 192 276 112 276 111 277 193 277 192 277 113 278 193 278 111 278 113 279 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362 169 363 229 363 170 363 189 364 190 364 234 364 234 365 190 365 235 365 235 366 190 366 191 366 235 367 191 367 236 367 191 368 192 368 236 368 192 369 193 369 236 369 236 370 193 370 237 370 193 371 194 371 237 371 237 372 194 372 195 372 237 373 195 373 238 373 195 374 196 374 238 374 238 375 196 375 239 375 196 376 197 376 239 376 239 377 197 377 240 377 240 378 197 378 198 378 240 379 198 379 241 379 198 380 178 380 241 380 241 381 178 381 242 381 242 382 178 382 243 382 178 383 179 383 243 383 243 384 179 384 244 384 244 385 179 385 180 385 180 386 181 386 244 386 244 387 181 387 245 387 181 388 182 388 245 388 245 389 182 389 246 389 246 390 182 390 183 390 246 391 183 391 247 391 247 392 183 392 184 392 247 393 184 393 185 393 247 394 185 394 248 394 248 395 185 395 186 395 248 396 186 396 249 396 249 397 186 397 250 397 250 398 186 398 187 398 250 399 187 399 188 399 250 400 188 400 251 400 251 401 188 401 189 401 251 402 189 402 234 402 252 403 117 403 253 403 253 404 117 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446 246 446 206 446 206 447 246 447 247 447 245 448 205 448 244 448 244 449 205 449 204 449 203 450 271 450 201 450 206 451 247 451 202 451 202 452 247 452 272 452 203 453 202 453 271 453 271 454 202 454 272 454 200 455 268 455 204 455 268 456 199 456 201 456 200 457 199 457 268 457 213 458 208 458 273 458 215 459 214 459 240 459 240 460 214 460 239 460 273 461 237 461 213 461 239 462 214 462 213 462 239 463 213 463 238 463 238 464 213 464 237 464 209 465 212 465 267 465 267 466 212 466 266 466 266 467 212 467 211 467 274 468 210 468 209 468 274 469 209 469 267 469 273 470 208 470 275 470 275 471 208 471 207 471 275 472 207 472 274 472 274 473 207 473 210 473 222 474 224 474 276 474 276 475 224 475 223 475 276 476 223 476 277 476 220 477 219 477 222 477 247 478 216 478 272 478 272 479 216 479 278 479 278 480 216 480 221 480 278 481 221 481 279 481 279 482 221 482 220 482 277 483 223 483 218 483 250 484 218 484 249 484 249 485 218 485 217 485 249 486 217 486 248 486 248 487 217 487 247 487 247 488 217 488 216 488 281 489 229 489 233 489 281 490 233 490 280 490 280 491 233 491 226 491 273 492 232 492 237 492 237 493 232 493 236 493 236 494 232 494 231 494 277 495 230 495 229 495 236 496 231 496 235 496 235 497 231 497 230 497 225 498 228 498 282 498 282 499 228 499 227 499 282 500 227 500 273 500 273 501 227 501 232 501 280 502 226 502 225 502 281 503 277 503 229 503 235 504 230 504 277 504 235 505 277 505 234 505 218 506 250 506 277 506 250 507 251 507 277 507 277 508 251 508 234 508 241 509 211 509 240 509 240 510 211 510 215 510 244 511 204 511 243 511 211 512 241 512 242 512 211 513 242 513 204 513 204 514 242 514 243 514 283 515 266 515 284 515 285 516 267 516 283 516 283 517 267 517 266 517 286 518 267 518 285 518 286 519 274 519 267 519 287 520 275 520 288 520 288 521 275 521 289 521 289 522 275 522 274 522 289 523 274 523 286 523 287 524 273 524 275 524 287 525 290 525 273 525 273 526 290 526 282 526 282 527 290 527 291 527 282 528 291 528 292 528 282 529 292 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571 302 571 303 571 313 572 303 572 314 572 314 573 303 573 298 573 314 574 298 574 315 574 315 575 298 575 299 575 315 576 299 576 316 576 316 577 299 577 300 577 316 578 300 578 317 578 317 579 300 579 297 579 317 580 297 580 318 580 318 581 297 581 296 581 318 582 296 582 319 582 319 583 296 583 295 583 319 584 295 584 320 584 320 585 295 585 293 585 320 586 293 586 321 586 321 587 293 587 322 587 322 588 293 588 294 588 322 589 294 589 323 589 323 590 294 590 292 590 323 591 292 591 324 591 324 592 292 592 291 592 324 593 291 593 325 593 325 594 291 594 290 594 325 595 290 595 326 595 326 596 290 596 287 596 326 597 287 597 327 597 327 598 287 598 288 598 327 599 288 599 289 599 327 600 289 600 328 600 328 601 289 601 329 601 329 602 289 602 286 602 329 603 286 603 285 603 329 604 285 604 330 604 330 605 285 605 283 605 330 606 283 606 284 606 330 607 284 607 331 607 331 608 284 608 307 608 331 609 307 609 309 609 309 610 307 610 308 610 259 611 260 611 332 611 259 612 332 612 258 612 258 613 332 613 257 613 256 614 257 614 333 614 256 615 333 615 255 615 255 616 333 616 334 616 255 617 334 617 254 617 254 618 334 618 335 618 254 619 335 619 253 619 253 620 335 620 252 620 252 621 335 621 336 621 252 622 336 622 265 622 265 623 336 623 337 623 265 624 337 624 264 624 264 625 337 625 338 625 264 626 338 626 263 626 263 627 338 627 262 627 262 628 338 628 339 628 262 629 339 629 261 629 261 630 339 630 340 630 261 631 340 631 260 631 326 632 341 632 325 632 325 633 341 633 342 633 325 634 342 634 324 634 324 635 342 635 343 635 324 636 343 636 323 636 323 637 343 637 344 637 323 638 344 638 322 638 322 639 344 639 321 639 321 640 344 640 345 640 312 641 346 641 311 641 311 642 346 642 347 642 311 643 347 643 310 643 310 644 347 644 348 644 310 645 348 645 309 645 309 646 348 646 331 646 331 647 348 647 349 647 331 648 349 648 330 648 330 649 349 649 350 649 321 650 345 650 320 650 320 651 345 651 351 651 320 652 351 652 319 652 319 653 351 653 318 653 318 654 351 654 352 654 318 655 352 655 317 655 317 656 352 656 353 656 317 657 353 657 316 657 330 658 350 658 354 658 330 659 354 659 329 659 329 660 354 660 328 660 328 661 354 661 355 661 328 662 355 662 327 662 327 663 355 663 356 663 327 664 356 664 326 664 326 665 356 665 341 665 353 666 357 666 316 666 316 667 357 667 315 667 315 668 357 668 314 668 314 669 357 669 358 669 314 670 358 670 313 670 313 671 358 671 359 671 313 672 359 672 312 672 312 673 359 673 346 673 421 674 420 674 422 674 422 675 420 675 423 675 477 676 476 676 420 676 420 677 476 677 478 677 478 678 479 678 420 678 479 679 423 679 420 679 483 680 417 680 480 680 417 681 483 681 418 681 417 682 418 682 481 682 481 683 419 683 417 683 417 684 419 684 484 684 417 685 484 685 482 685 424 686 348 686 425 686 425 687 348 687 347 687 425 688 347 688 426 688 426 689 347 689 346 689 426 690 346 690 427 690 427 691 346 691 428 691 428 692 346 692 359 692 428 693 359 693 429 693 429 694 359 694 358 694 429 695 358 695 430 695 430 696 358 696 431 696 431 697 358 697 357 697 431 698 357 698 432 698 432 699 357 699 433 699 433 700 357 700 353 700 433 701 353 701 434 701 434 702 353 702 435 702 435 703 353 703 352 703 435 704 352 704 351 704 435 705 351 705 436 705 436 706 351 706 437 706 437 707 351 707 345 707 437 708 345 708 438 708 438 709 345 709 344 709 438 710 344 710 439 710 439 711 344 711 440 711 440 712 344 712 343 712 440 713 343 713 441 713 441 714 343 714 342 714 441 715 342 715 442 715 442 716 342 716 341 716 442 717 341 717 443 717 443 718 341 718 356 718 443 719 356 719 444 719 444 720 356 720 355 720 444 721 355 721 445 721 445 722 355 722 354 722 445 723 354 723 446 723 446 724 354 724 447 724 447 725 354 725 350 725 447 726 350 726 448 726 448 727 350 727 449 727 449 728 350 728 349 728 449 729 349 729 450 729 450 730 349 730 348 730 450 731 348 731 424 731 451 732 452 732 416 732 416 733 452 733 361 733 361 734 452 734 453 734 361 735 453 735 360 735 360 736 453 736 362 736 362 734 453 734 363 734 363 734 453 734 454 734 363 734 454 734 364 734 364 734 454 734 365 734 365 734 454 734 455 734 365 737 455 737 367 737 367 738 455 738 366 738 366 739 455 739 456 739 366 740 456 740 368 740 368 741 456 741 369 741 369 742 456 742 457 742 369 743 457 743 370 743 370 744 457 744 371 744 371 745 457 745 458 745 371 746 458 746 372 746 372 747 458 747 374 747 374 748 458 748 459 748 374 749 459 749 373 749 373 750 459 750 375 750 375 751 459 751 376 751 376 752 459 752 460 752 376 753 460 753 377 753 377 754 460 754 378 754 378 755 460 755 461 755 378 756 461 756 379 756 379 757 461 757 381 757 381 758 461 758 462 758 381 759 462 759 380 759 380 734 462 734 382 734 382 760 462 760 383 760 383 734 462 734 463 734 383 734 463 734 384 734 384 734 463 734 386 734 386 734 463 734 464 734 386 761 464 761 385 761 385 734 464 734 387 734 387 762 464 762 465 762 387 763 465 763 388 763 388 734 465 734 389 734 389 734 465 734 390 734 390 734 465 734 466 734 390 764 466 764 391 764 391 734 466 734 393 734 393 734 466 734 467 734 393 765 467 765 392 765 392 766 467 766 394 766 394 734 467 734 395 734 395 734 467 734 468 734 395 767 468 767 396 767 396 768 468 768 397 768 397 734 468 734 398 734 398 734 468 734 469 734 398 769 469 769 400 769 400 734 469 734 399 734 399 734 469 734 470 734 399 734 470 734 401 734 401 770 470 770 402 770 402 734 470 734 471 734 402 771 471 771 403 771 403 734 471 734 405 734 405 734 471 734 472 734 405 772 472 772 404 772 404 734 472 734 406 734 406 734 472 734 407 734 407 734 472 734 473 734 407 734 473 734 408 734 408 773 473 773 409 773 409 774 473 774 410 774 410 734 473 734 474 734 410 734 474 734 412 734 412 734 474 734 411 734 411 734 474 734 475 734 411 775 475 775 413 775 413 734 475 734 414 734 414 734 475 734 451 734 414 734 451 734 415 734 415 734 451 734 416 734 337 776 480 776 338 776 480 777 337 777 336 777 338 778 480 778 417 778 339 779 477 779 340 779 335 780 480 780 336 780 477 781 420 781 333 781 477 782 260 782 340 782 260 783 477 783 332 783 417 784 339 784 338 784 420 785 334 785 333 785 477 786 333 786 257 786 477 787 257 787 332 787 477 788 339 788 417 788 335 789 334 789 480 789 480 790 334 790 420 790 457 791 456 791 420 791 480 792 448 792 449 792 480 793 449 793 483 793 449 794 450 794 418 794 449 795 418 795 483 795 450 796 481 796 418 796 424 797 419 797 450 797 450 798 419 798 481 798 484 799 419 799 425 799 425 800 419 800 424 800 417 801 482 801 426 801 426 802 482 802 425 802 425 803 482 803 484 803 460 804 477 804 461 804 461 805 477 805 417 805 460 806 476 806 477 806 459 807 478 807 460 807 460 808 478 808 476 808 459 809 479 809 478 809 423 810 479 810 459 810 458 811 423 811 459 811 458 812 422 812 423 812 457 813 422 813 458 813 457 814 420 814 421 814 457 815 421 815 422 815 417 816 426 816 427 816 417 817 427 817 461 817 461 818 427 818 428 818 461 819 428 819 462 819 462 820 428 820 429 820 462 821 429 821 463 821 463 822 429 822 430 822 463 823 430 823 464 823 464 824 430 824 431 824 464 825 431 825 465 825 465 826 431 826 432 826 465 827 432 827 466 827 466 828 432 828 433 828 466 829 433 829 467 829 467 830 433 830 434 830 467 831 434 831 435 831 467 832 435 832 468 832 468 833 435 833 436 833 468 834 436 834 469 834 469 835 436 835 470 835 470 836 436 836 437 836 470 837 437 837 471 837 471 838 437 838 438 838 471 839 438 839 472 839 472 840 438 840 439 840 472 841 439 841 440 841 472 842 440 842 473 842 473 843 440 843 441 843 473 844 441 844 474 844 474 845 441 845 475 845 475 846 441 846 442 846 475 847 442 847 451 847 451 848 442 848 443 848 451 849 443 849 452 849 452 850 443 850 444 850 452 851 444 851 453 851 453 852 444 852 445 852 453 853 445 853 454 853 454 854 445 854 446 854 454 855 446 855 455 855 455 856 446 856 447 856 455 857 447 857 456 857 456 858 447 858 448 858 456 859 448 859 480 859 456 860 480 860 420 860</p>
78
- </polylist>
79
- </mesh>
80
- </geometry>
81
- </library_geometries>
82
- <library_controllers/>
83
- <library_visual_scenes>
84
- <visual_scene id="Scene" name="Scene">
85
- <node id="eSeries_UR5e_058" name="eSeries_UR5e_058" type="NODE">
86
- <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
87
- <instance_geometry url="#eSeries_UR5e_058-mesh" name="eSeries_UR5e_058">
88
- <bind_material>
89
- <technique_common>
90
- <instance_material symbol="LinkGrey-material" target="#LinkGrey-material"/>
91
- </technique_common>
92
- </bind_material>
93
- </instance_geometry>
94
- </node>
95
- </visual_scene>
96
- </library_visual_scenes>
97
- <scene>
98
- <instance_visual_scene url="#Scene"/>
99
- </scene>
100
- </COLLADA>