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Commit e2d81810 authored by Louis Montaut's avatar Louis Montaut
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core: adding allegro left hand

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python/example_robot_data/robots_loader.py
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View file @ e2d81810
......@@ -393,6 +393,12 @@ class AllegroRightHandLoader(RobotLoader):
urdf_subpath = "urdf"
class AllegroLeftHandLoader(RobotLoader):
path = "allegro_hand_description"
urdf_filename = "allegro_left_hand.urdf"
urdf_subpath = "urdf"
class UR3Loader(RobotLoader):
path = "ur_description"
urdf_filename = "ur3_robot.urdf"
......@@ -496,6 +502,7 @@ ROBOTS = {
"laikago": LaikagoLoader,
"panda": PandaLoader,
"allegro_right_hand": AllegroRightHandLoader,
"allegro_left_hand": AllegroLeftHandLoader,
"romeo": RomeoLoader,
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
......
robots/allegro_hand_description/urdf/allegro_left_hand.urdf 0 → 100644
+ 509
− 0
View file @ e2d81810
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
-->
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
<!-- full height from joint to tip. when used,
the radius of the finger tip sphere will be subtracted
and one fixed link will be added for the tip. -->
<!--0.0435, 0.044981-->
<!--0.002298-->
<!--0.002298-->
<!-- ========================= THUMB PARAMS ========================= -->
<!-- ========================= LIMITS ========================= -->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- BASE -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/base_link_left.STL"/>
</geometry>
<!-- LEFT -->
<origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
<!-- RIGHT -->
<!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
<geometry>
<box size="0.0408 0.1130 0.095"/>
</geometry>
</collision>
</link>
<!-- ============================================================================= -->
<!-- FINGERS -->
<!-- RIGHT HAND due to which finger is number 0 -->
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
<link name="link_8.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0164"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
</link>
<joint name="joint_8.0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
<parent link="base_link"/>
<child link="link_8.0"/>
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
</joint>
<link name="link_9.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.054"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
</link>
<joint name="joint_9.0" type="revolute">
<limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
<axis xyz="0 1 0"/>
<parent link="link_8.0"/>
<child link="link_9.0"/>
<origin xyz="0 0 0.0164"/>
</joint>
<link name="link_10.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0384"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
</link>
<joint name="joint_10.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
<parent link="link_9.0"/>
<child link="link_10.0"/>
<origin xyz="0 0 0.054"/>
</joint>
<link name="link_11.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0267"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
</link>
<joint name="joint_11.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
<parent link="link_10.0"/>
<child link="link_11.0"/>
<origin xyz="0 0 0.0384"/>
</joint>
<link name="link_11.0_tip">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
</link>
<joint name="joint_11.0_tip" type="fixed">
<parent link="link_11.0"/>
<child link="link_11.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
<link name="link_4.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0164"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
</link>
<joint name="joint_4.0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
<parent link="base_link"/>
<child link="link_4.0"/>
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
</joint>
<link name="link_5.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.054"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
</link>
<joint name="joint_5.0" type="revolute">
<limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
<axis xyz="0 1 0"/>
<parent link="link_4.0"/>
<child link="link_5.0"/>
<origin xyz="0 0 0.0164"/>
</joint>
<link name="link_6.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0384"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
</link>
<joint name="joint_6.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
<parent link="link_5.0"/>
<child link="link_6.0"/>
<origin xyz="0 0 0.054"/>
</joint>
<link name="link_7.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0267"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
</link>
<joint name="joint_7.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
<parent link="link_6.0"/>
<child link="link_7.0"/>
<origin xyz="0 0 0.0384"/>
</joint>
<link name="link_7.0_tip">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
</link>
<joint name="joint_7.0_tip" type="fixed">
<parent link="link_7.0"/>
<child link="link_7.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
<link name="link_0.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0164"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
</link>
<joint name="joint_0.0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
<parent link="base_link"/>
<child link="link_0.0"/>
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
</joint>
<link name="link_1.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.054"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
</link>
<joint name="joint_1.0" type="revolute">
<limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
<axis xyz="0 1 0"/>
<parent link="link_0.0"/>
<child link="link_1.0"/>
<origin xyz="0 0 0.0164"/>
</joint>
<link name="link_2.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0384"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
</link>
<joint name="joint_2.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
<parent link="link_1.0"/>
<child link="link_2.0"/>
<origin xyz="0 0 0.054"/>
</joint>
<link name="link_3.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0267"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
</link>
<joint name="joint_3.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
<parent link="link_2.0"/>
<child link="link_3.0"/>
<origin xyz="0 0 0.0384"/>
</joint>
<link name="link_3.0_tip">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
</link>
<joint name="joint_3.0_tip" type="fixed">
<parent link="link_3.0"/>
<child link="link_3.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
<!-- THUMB -->
<!--
<xacro:thumb_right
finger_num= "3"
offset_origin_x= "-0.0182"
offset_origin_y= "0.019333"
offset_origin_z= "-0.045987"
finger_angle_r= "0"
finger_angle_p= "-${95*DEG2RAD}"
finger_angle_y= "-${90*DEG2RAD}"
/>
-->
<!--
finger_angle_r= "${90*DEG2RAD}"
finger_angle_p= "-${100*DEG2RAD}"
finger_angle_y= "${0*DEG2RAD}"
-->
<link name="link_12.0">
<visual>
<geometry>
<!-- RIGHT -->
<!-- <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_right.STL" /> -->
<!-- LEFT -->
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_left.STL"/>
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
<origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.0358 0.034 0.0455"/>
</geometry>
<!-- RIGHT -->
<!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
<!-- LEFT -->
<origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
</collision>
</link>
<joint name="joint_12.0" type="revolute">
<axis xyz="+1 0 0"/>
<limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
<parent link="base_link"/>
<child link="link_12.0"/>
<origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
</joint>
<link name="link_13.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_13.0.STL"/>
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0177"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
</collision>
</link>
<joint name="joint_13.0" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
<parent link="link_12.0"/>
<child link="link_13.0"/>
<!-- RIGHT -->
<!-- <origin xyz="-0.027 0.005 0.0399"/> -->
<!-- LEFT -->
<origin xyz="-0.027 -0.005 0.0399"/>
</joint>
<link name="link_14.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_14.0.STL"/>
</geometry>
<material name="black">
</material>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0514"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
</collision>
</link>
<joint name="joint_14.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
<parent link="link_13.0"/>
<child link="link_14.0"/>
<origin xyz="0 0 0.0177"/>
</joint>
<link name="link_15.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0.STL"/>
</geometry>
<material name="black">
</material>
</visual>
<collision>
<geometry>
<box size="0.0196 0.0275 0.0423"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.02115"/>
</collision>
</link>
<joint name="joint_15.0" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
<parent link="link_14.0"/>
<child link="link_15.0"/>
<origin xyz="0 0 0.0514"/>
</joint>
<link name="link_15.0_tip">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0_tip.STL"/>
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="0.012"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="joint_15.0_tip" type="fixed">
<parent link="link_15.0"/>
<child link="link_15.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0423"/>
<!--0.0267000000000005-->
</joint>
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- THUMB MACRO -->
<!-- END THUMB MACRO -->
<!-- THREE FINGER MACRO -->
<!-- [[END]] THREE FINGER MACRO -->
</robot>
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