Skip to content

Commit

Permalink
Merge pull request #8 from RobotecAI/stabilization_200
Browse files Browse the repository at this point in the history 
Release 2.0.0
  • Loading branch information
@jhanca-robotecai
jhanca-robotecai authored Jan 16, 2025
2 parents 165b4e4 + 165d478 commit 33fc9f1
Show file tree
Hide file tree
Showing 4 changed files with 198 additions and 132 deletions.
180 changes: 109 additions & 71 deletions Assets/UR10/UR10.prefab
View file
Original file line number Diff line number Diff line change
Expand Up @@ -98,11 +98,10 @@
"$type": "EditorVisibilityComponent",
"Id": 3162201113938073911
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 11215053288689314569,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Frame Name": "flange",
"Joint Name": "wrist_3-flange",
"Publish Transform": false
Expand Down Expand Up @@ -175,7 +174,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -296,11 +296,10 @@
"$type": "EditorVisibilityComponent",
"Id": 14178936275163388283
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 6725714804015519141,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Frame Name": "tool0",
"Joint Name": "flange-tool0",
"Publish Transform": false
Expand Down Expand Up @@ -529,11 +528,10 @@
"$type": "EditorVisibilityComponent",
"Id": 2900401725638520869
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 1337278135579268774,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -614,7 +612,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -769,11 +768,10 @@
"$type": "EditorVisibilityComponent",
"Id": 14891883367921573398
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 15791815753167737967,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -906,11 +904,10 @@
"$type": "EditorVisibilityComponent",
"Id": 11110003518163621478
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 11750197844762334575,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1130,11 +1127,10 @@
"$type": "EditorVisibilityComponent",
"Id": 4447019963576809044
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 11919293354833549866,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1254,11 +1250,10 @@
"$type": "EditorVisibilityComponent",
"Id": 3577927265296436934
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 3643723356448930267,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1326,11 +1321,10 @@
"$type": "EditorVisibilityComponent",
"Id": 4882093382413089942
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 2647709708475378771,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1462,11 +1456,10 @@
"$type": "EditorVisibilityComponent",
"Id": 15346349257908877517
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 8821592955977444905,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1542,7 +1535,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -1646,14 +1640,60 @@
}
}
},
"Initial positions": {
"elbow_joint": 1.399999976158142,
"shoulder_lift_joint": -1.6200000047683716,
"shoulder_pan_joint": {},
"wrist_1_joint": -1.2000000476837158,
"wrist_2_joint": -1.600000023841858,
"wrist_3_joint": -0.10999999940395355
}
"Initial positions": [
[
"base_joint",
{}
],
[
"base_link-base_link_inertia",
{}
],
[
"shoulder_pan_joint",
{}
],
[
"shoulder_lift_joint",
-1.6200000047683716
],
[
"elbow_joint",
1.399999976158142
],
[
"wrist_1_joint",
-1.2000000476837158
],
[
"wrist_2_joint",
-1.600000023841858
],
[
"wrist_3_joint",
-0.10999999940395355
],
[
"wrist_3-flange",
{}
],
[
"flange-tool0",
{}
],
[
"tool0-gripper",
{}
],
[
"wrist_3_link-ft_frame",
{}
],
[
"base_link-base_fixed_joint",
{}
]
]
},
"JointsTrajectoryComponent": {
"$type": "GenericComponentWrapper",
Expand All @@ -1663,11 +1703,10 @@
"Action name": "joint_trajectory_controller/follow_joint_trajectory"
}
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 4167489356847728006,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1797,11 +1836,10 @@
"$type": "EditorVisibilityComponent",
"Id": 12870955700656991821
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 2428354820031729224,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -1877,7 +1915,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -1995,11 +2034,10 @@
"$type": "GripperActionServerComponent"
}
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 9111996756983695701,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Frame Name": "gripper_link",
"Joint Name": "tool0-gripper",
"Publish Transform": false
Expand Down Expand Up @@ -2080,11 +2118,10 @@
"$type": "EditorVisibilityComponent",
"Id": 9697593403581928237
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 9761504380790994395,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Namespace Configuration": {
"Namespace Strategy": 1
},
Expand Down Expand Up @@ -2152,7 +2189,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -2239,7 +2277,8 @@
"MaterialAsset": {
"assetId": {
"guid": "{6B4A45DC-3889-5BE4-A100-947D9D6E8768}"
}
},
"assetHint": "ur10/ur10_m_ur10.azmaterial"
}
}
}
Expand Down Expand Up @@ -2310,11 +2349,10 @@
"$type": "EditorVisibilityComponent",
"Id": 534106856007224175
},
"ROS2FrameComponent": {
"$type": "GenericComponentWrapper",
"ROS2FrameEditorComponent": {
"$type": "ROS2FrameEditorComponent",
"Id": 16309935774288793114,
"m_template": {
"$type": "ROS2FrameComponent",
"ROS2FrameConfiguration": {
"Frame Name": "ft_frame",
"Joint Name": "wrist_3_link-ft_frame",
"Publish Transform": false
Expand All @@ -2335,4 +2373,4 @@
}
}
}
}
}
Loading

0 comments on commit 33fc9f1

Please sign in to comment.