Skip to content
Snippets Groups Projects
Commit 23ec2801 authored by Sam Pfeiffer's avatar Sam Pfeiffer
Browse files

Fix gripper movement in simulation. 

Add colors to model
parent 05214a14
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 213 additions and 51 deletions
talos_description/gazebo/gazebo.urdf.xacro
+ 1
− 0
View file @ 23ec2801
......@@ -14,6 +14,7 @@
<plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
<frameName>torso_2_link</frameName>
<topicName>floating_base_pose</topicName>
<updateRate>100.0</updateRate>
</plugin>
</gazebo>
......
talos_description/urdf/arm/arm.urdf.xacro
+ 4
− 0
View file @ 23ec2801
......@@ -205,18 +205,22 @@
<gazebo reference="${name}_${side}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_1_joint">
......
talos_description/urdf/arm/wrist.urdf.xacro
+ 1
− 0
View file @ 23ec2801
......@@ -167,6 +167,7 @@
<gazebo reference="${name}_${side}_7_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_5_joint">
......
talos_description/urdf/gripper/gripper.gazebo.xacro
+ 138
− 37
View file @ 23ec2801
......@@ -10,43 +10,144 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- MACROS FOR MIMIC JOINTS -->
<xacro:macro name="finger_mimics" params="name">
<plugin name="mimic_${name}_inner_double_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<hasPID/>
</plugin>
<plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_motor_single_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<hasPID/>
</plugin>
<!-- VIRTUAL (mimic) JOINTS -->
<xacro:macro name="virtual_joints" params="name">
<gazebo>
<plugin name="mimic_${name}_inner_double_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin name="mimic_${name}_inner_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
<actuatedJoint>${name}_joint</actuatedJoint>
<virtualJoint>
<name>${name}_inner_double_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint> -->
<!-- <virtualJoint>
<name>${name}_fingertip_1_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_2_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_motor_single_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_3_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint> -->
<!-- </plugin> -->
<gazebo reference="${name}_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_inner_double_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_fingertip_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_fingertip_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_motor_single_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_fingertip_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="${name}_base_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_motor_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${name}_inner_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${name}_fingertip_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_motor_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${name}_inner_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${name}_fingertip_2_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_fingertip_3_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:macro>
</robot>
\ No newline at end of file
talos_description/urdf/gripper/gripper.transmission.xacro
+ 13
− 0
View file @ 23ec2801
......@@ -22,4 +22,17 @@
</transmission>
</xacro:macro>
<xacro:macro name="gripper_virtual_transmission" params="name reduction" >
<transmission name="${name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
<joint name="${name}_joint" >
<hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>
\ No newline at end of file
talos_description/urdf/gripper/gripper_v2.urdf.xacro
+ 23
− 14
View file @ 23ec2801
......@@ -113,7 +113,7 @@
<origin xyz="0.00000 0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
</joint>
......@@ -152,9 +152,9 @@
<origin xyz="0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_fingertip_2_link">
......@@ -188,12 +188,12 @@
<origin xyz="-0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_motor_single_link">
<link name="${name}_motor_single_link">
<inertial>
<origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.14765"/>
......@@ -224,13 +224,13 @@
<origin xyz="0.00000 -0.02025 -0.03000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_inner_single_link">
<link name="${name}_inner_single_link">
<inertial>
<origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.05356"/>
......@@ -261,10 +261,10 @@
<origin xyz="0.00000 -0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_fingertip_3_link">
......@@ -298,14 +298,23 @@
<origin xyz="0.00000 -0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<xacro:finger_mimics name="${name}" />
<xacro:virtual_joints name="${name}" />
<xacro:gripper_transmission name="${name}" reduction="1.0" />
<!-- virtual mimic joints -->
<xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/>
</xacro:macro>
</robot>
talos_description/urdf/head/head.urdf.xacro
+ 12
− 0
View file @ 23ec2801
......@@ -72,8 +72,15 @@
<gazebo reference="${name}_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:macro>
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
......@@ -127,6 +134,11 @@
</gazebo>
<gazebo reference="${name}_link">
<material>Gazebo/White</material>
</gazebo>
</xacro:macro>
<xacro:macro name="talos_head" params="name parent">
......
talos_description/urdf/leg/leg_v2.urdf.xacro
+ 19
− 0
View file @ 23ec2801
......@@ -330,6 +330,25 @@
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="leg_${prefix}_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_2_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_3_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_4_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_5_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="leg_${prefix}_6_link">
<material>Gazebo/White</material>
</gazebo>
</xacro:macro>
</robot>
talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
+ 2
− 0
View file @ 23ec2801
......@@ -90,6 +90,8 @@
<distalostionT2>0.00000001</distalostionT2>
</plugin>
</sensor>
<material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:macro>
</robot>
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment