added end effector models

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "koopman-op"]
+	path = koopman-op
+	url = git@github.com:psu-hcr/koopman-op.git
+[submodule "iiwa_ros/lus-rosscripts"]
+	path = iiwa_ros/lus-rosscripts
+	url = git@github.com:psu-hcr/lus-rosscripts.git

iiwa_description/launch/iiwa15_upload.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--|
+    Copyright (C) 2019 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
+    Authors:  Konstantinos Chatzilygeroudis (maintainer)
+              Bernardo Fichera
+              Walid Amanhoud
+    email:    costashatz@gmail.com
+              bernardo.fichera@epfl.ch
+              walid.amanhoud@epfl.ch
+    Other contributors:
+              Yoan Mollard (yoan@aubrune.eu)
+    website:  lasa.epfl.ch
+
+    This file is part of iiwa_ros.
+
+    iiwa_ros is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    iiwa_ros is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+|-->
+<launch>
+
+   <!-- This lauch file just loads the URDF with the given hardware interface and robot name into the ROS Parameter Server -->
+  <arg name="hardware_interface" default="EffortJointInterface"/>
+  <arg name="robot_name" default="iiwa"/>
+
+  <param name="robot_description"
+      command="$(find xacro)/xacro --inorder '$(find iiwa_description)/urdf/iiwa15.urdf.xacro'
+      hardware_interface:=$(arg hardware_interface)
+      robot_name:=$(arg robot_name)" />
+</launch>

iiwa_description/launch/iiwa16_upload.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--|
+    Copyright (C) 2019 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
+    Authors:  Konstantinos Chatzilygeroudis (maintainer)
+              Bernardo Fichera
+              Walid Amanhoud
+    email:    costashatz@gmail.com
+              bernardo.fichera@epfl.ch
+              walid.amanhoud@epfl.ch
+    Other contributors:
+              Yoan Mollard (yoan@aubrune.eu)
+    website:  lasa.epfl.ch
+
+    This file is part of iiwa_ros.
+
+    iiwa_ros is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    iiwa_ros is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+|-->
+<launch>
+
+   <!-- This lauch file just loads the URDF with the given hardware interface and robot name into the ROS Parameter Server -->
+  <arg name="hardware_interface" default="EffortJointInterface"/>
+  <arg name="robot_name" default="iiwa"/>
+
+  <param name="robot_description"
+      command="$(find xacro)/xacro --inorder '$(find iiwa_description)/urdf/iiwa16.urdf.xacro'
+      hardware_interface:=$(arg hardware_interface)
+      robot_name:=$(arg robot_name)" />
+</launch>

iiwa_description/launch/iiwa17_upload.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--|
+    Copyright (C) 2019 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
+    Authors:  Konstantinos Chatzilygeroudis (maintainer)
+              Bernardo Fichera
+              Walid Amanhoud
+    email:    costashatz@gmail.com
+              bernardo.fichera@epfl.ch
+              walid.amanhoud@epfl.ch
+    Other contributors:
+              Yoan Mollard (yoan@aubrune.eu)
+    website:  lasa.epfl.ch
+
+    This file is part of iiwa_ros.
+
+    iiwa_ros is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    iiwa_ros is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+|-->
+<launch>
+
+   <!-- This lauch file just loads the URDF with the given hardware interface and robot name into the ROS Parameter Server -->
+  <arg name="hardware_interface" default="EffortJointInterface"/>
+  <arg name="robot_name" default="iiwa"/>
+
+  <param name="robot_description"
+      command="$(find xacro)/xacro --inorder '$(find iiwa_description)/urdf/iiwa17.urdf.xacro'
+      hardware_interface:=$(arg hardware_interface)
+      robot_name:=$(arg robot_name)" />
+</launch>

iiwa_description/urdf/iiwa14.xacro

@@ -386,7 +386,9 @@
         <material name="Grey"/>
       </collision>
     </link>
-
+
+
+	 <!-- joint between link_6 and End Effector -->
     <joint name="${robot_name}_joint_ee" type="fixed">
       <parent link="${robot_name}_link_7"/>
       <child link="${robot_name}_link_ee"/>
@@ -399,6 +401,25 @@
         <mass value="1e-6"/>
         <inertia ixx="1"  ixy="0"  ixz="0" iyy="1" iyz="0" izz="1" />
       </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <!-- <mesh filename="package://iiwa_description/meshes/iiwa14/visual/PegScaled.stl"/> -->
+          <!--  <box size="0.1 0.1 0.1"/> -->
+        </geometry>
+        <material name="Orange"/>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+        <!--  <mesh filename="package://iiwa_description/meshes/iiwa14/collision/PegScaled.stl"/> -->
+          <!-- <box size="0.1 0.1 0.1"/> -->
+        </geometry>
+        <material name="Orange"/>
+      </collision>
+
     </link>
 
     <!--Extensions -->

iiwa_description/urdf/iiwa15.urdf.xacro

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!--|
+    Copyright (C) 2019 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
+    Authors:  Konstantinos Chatzilygeroudis (maintainer)
+              Bernardo Fichera
+              Walid Amanhoud
+    email:    costashatz@gmail.com
+              bernardo.fichera@epfl.ch
+              walid.amanhoud@epfl.ch
+    Other contributors:
+              Yoan Mollard (yoan@aubrune.eu)
+    website:  lasa.epfl.ch
+
+    This file is part of iiwa_ros.
+
+    iiwa_ros is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    iiwa_ros is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+|-->
+<robot name="iiwa15" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Import Rviz colors -->
+  <xacro:include filename="$(find iiwa_description)/urdf/materials.xacro" />
+  <!--Import the lbr iiwa macro -->
+  <xacro:include filename="$(find iiwa_description)/urdf/iiwa15.xacro"/>
+
+  <xacro:arg name="hardware_interface" default="PositionJointInterface"/>
+  <xacro:arg name="robot_name" default="iiwa"/>
+  <xacro:arg name="origin_xyz" default="0 0 0"/>
+  <xacro:arg name="origin_rpy" default="0 0 0"/>
+  <xacro:arg name="simple_collision" default="false"/>
+
+  <!-- collision shapes -->
+  <xacro:if value="$(arg simple_collision)">
+    <xacro:arg name="collision_postfix" default="_s"/>
+  </xacro:if>
+  <xacro:unless value="$(arg simple_collision)">
+    <xacro:arg name="collision_postfix" default=""/>
+  </xacro:unless>
+
+  <!-- Fix to world just for testing -->
+  <link name="world"/>
+
+  <!--iiwa-->
+  <xacro:iiwa14 hardware_interface="$(arg hardware_interface)" robot_name="$(arg robot_name)" parent="world" collision_postfix="$(arg collision_postfix)">
+    <origin xyz="$(arg origin_xyz)" rpy="$(arg origin_rpy)" />
+  </xacro:iiwa14>
+
+</robot>