From 8db4533f4c0264f3fd48bc5ad65d1320b91b0d52 Mon Sep 17 00:00:00 2001
From: Sam Pfeiffer <sam.pfeiffer@pal-robotics.com>
Date: Thu, 22 Sep 2016 17:17:01 +0200
Subject: [PATCH] Add new gripper model

---
 ...os_double.STL => gripper_motor_double.STL} | Bin
 ...STL => gripper_motor_double_collision.STL} | Bin
 .../meshes/gripper/gripper_motor_single.STL   | Bin 0 -> 159884 bytes
 .../gripper_motor_single_collision.STL        | Bin 0 -> 17284 bytes
 .../meshes/gripper/inner_single.STL           | Bin 0 -> 54434 bytes
 .../meshes/gripper/inner_single_collision.STL | Bin 0 -> 13284 bytes
 .../meshes/torso/{toso_1.STL => torso_1.STL}  | Bin
 .../robots/talos_gripper.urdf.xacro           |  29 +++
 .../robots/upload_gripper.launch              |   6 +
 .../urdf/gripper/gripper_v2.urdf.xacro        | 206 +++++++++++++++++-
 10 files changed, 230 insertions(+), 11 deletions(-)
 rename talos_description/meshes/gripper/{gripper_motalos_double.STL => gripper_motor_double.STL} (100%)
 rename talos_description/meshes/gripper/{gripper_motalos_double_collision.STL => gripper_motor_double_collision.STL} (100%)
 create mode 100644 talos_description/meshes/gripper/gripper_motor_single.STL
 create mode 100644 talos_description/meshes/gripper/gripper_motor_single_collision.STL
 create mode 100644 talos_description/meshes/gripper/inner_single.STL
 create mode 100644 talos_description/meshes/gripper/inner_single_collision.STL
 rename talos_description/meshes/torso/{toso_1.STL => torso_1.STL} (100%)
 create mode 100644 talos_description/robots/talos_gripper.urdf.xacro
 create mode 100644 talos_description/robots/upload_gripper.launch

diff --git a/talos_description/meshes/gripper/gripper_motalos_double.STL b/talos_description/meshes/gripper/gripper_motor_double.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motalos_double.STL
rename to talos_description/meshes/gripper/gripper_motor_double.STL
diff --git a/talos_description/meshes/gripper/gripper_motalos_double_collision.STL b/talos_description/meshes/gripper/gripper_motor_double_collision.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motalos_double_collision.STL
rename to talos_description/meshes/gripper/gripper_motor_double_collision.STL
diff --git a/talos_description/meshes/gripper/gripper_motor_single.STL b/talos_description/meshes/gripper/gripper_motor_single.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c139310128a6f165849531a5f33619343aa44e35
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diff --git a/talos_description/meshes/gripper/gripper_motor_single_collision.STL b/talos_description/meshes/gripper/gripper_motor_single_collision.STL
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diff --git a/talos_description/meshes/gripper/inner_single.STL b/talos_description/meshes/gripper/inner_single.STL
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diff --git a/talos_description/meshes/gripper/inner_single_collision.STL b/talos_description/meshes/gripper/inner_single_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..56a62d4857518ed639770154f7c0983087344860
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Ai2wiq

literal 0
HcmV?d00001

diff --git a/talos_description/meshes/torso/toso_1.STL b/talos_description/meshes/torso/torso_1.STL
similarity index 100%
rename from talos_description/meshes/torso/toso_1.STL
rename to talos_description/meshes/torso/torso_1.STL
diff --git a/talos_description/robots/talos_gripper.urdf.xacro b/talos_description/robots/talos_gripper.urdf.xacro
new file mode 100644
index 0000000..16b58ec
--- /dev/null
+++ b/talos_description/robots/talos_gripper.urdf.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://www.ros.org/wiki/xacro"
+        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+
+  <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+
+  <xacro:talos_torso name="torso" />
+
+  <xacro:talos_gripper name="gripper" parent="torso_2_link"/>
+
+  <!-- Generic simulatalos_gazebo plugins -->
+  <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+  <!-- Materials for visualization -->
+  <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/talos_description/robots/upload_gripper.launch b/talos_description/robots/upload_gripper.launch
new file mode 100644
index 0000000..723e285
--- /dev/null
+++ b/talos_description/robots/upload_gripper.launch
@@ -0,0 +1,6 @@
+<launch>
+
+  <!-- Robot description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_gripper.urdf.xacro'" />
+
+</launch>
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index 5fc0e7c..c315336 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -3,8 +3,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <!-- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.urdf.xacro" />
-  <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+  <!-- <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/gripper.gazebo.xacro" /> -->
 
 
@@ -24,6 +24,7 @@
                 <geometry>
                   <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
                 </geometry>
+                <material name="DarkGrey"/>
               </visual>
 
               <collision>
@@ -41,8 +42,6 @@
                       rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${90.00000 * deg_to_rad}"/>
               <axis xyz="0 0 0" />
             </joint>
-
-            <!-- Joint gripper_motor_double (None) : child link -- -> parent link gripper_base_link -->
             
 
             <link name="${name}_motor_double_link">
@@ -59,6 +58,7 @@
                 <geometry>
                   <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
                 </geometry>
+              <material name="Orange"/>
               </visual>
 
               <collision>
@@ -72,11 +72,10 @@
             <joint name="${name}_motor_double_joint" type="revolute">
               <parent link="${name}_base_link"/>
               <child link="${name}_motor_double_link"/>
-              <origin xyz="0.00000 0.02025 -0.03000" 
-                      rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
-              <!-- You may want to change axis -->
-              <axis xyz="0 0 1" />
-              <limit lower="${0.00000 * deg_to_rad}" upper="${60.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <origin xyz="0.0 0.02025 -0.03" 
+                      rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
+              <axis xyz="1 0 0" />
+              <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
               <dynamics friction="1.0" damping="1.0"/>
             </joint>
 
@@ -95,6 +94,7 @@
                 <geometry>
                   <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
                 </geometry>
+              <material name="Orange"/>
               </visual>
 
               <collision>
@@ -110,14 +110,198 @@
               <child link="${name}_inner_double_link"/>
               <origin xyz="0.00000 0.00525 -0.05598" 
                       rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
-              <!-- You may want to change axis -->
-              <axis xyz="0 0 1" />
+              <axis xyz="1 0 0" />
               <limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
               <mimic joint="${name}_motor_double_joint" multiplier="${1.0}" offset="0.0" />
 
             </joint>
 
 
+
+            <link name="${name}_fingertip_1_link">
+              <inertial>
+                <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+                <mass value="0.02630"/>
+                <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+                         iyy="0.00000900000" iyz="0.00000100000"
+                         izz="0.00000200000"/>
+              </inertial>
+
+              <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                </geometry>
+              <material name="DarkGrey"/>
+              </visual>
+
+              <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                </geometry>
+              </collision>
+            </link>
+
+
+            <joint name="fingertip_1_joint" type="revolute">
+              <parent link="${name}_inner_double_link"/>
+              <child link="${name}_fingertip_1_link"/>
+              <origin xyz="0.03200 0.04589 -0.06553" 
+                      rpy="${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="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <mimic joint="${name}_motor_double_joint" multiplier="${-1.0}" offset="0.0" />
+            </joint>
+
+
+            <link name="${name}_fingertip_2_link">
+              <inertial>
+                <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+                <mass value="0.02630"/>
+                <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+                         iyy="0.00000900000" iyz="0.00000100000"
+                         izz="0.00000200000"/>
+              </inertial>
+
+              <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                </geometry>
+                <material name="DarkGrey"/>
+              </visual>
+
+              <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                </geometry>
+              </collision>
+            </link>
+
+            <joint name="${name}_fingertip_2_joint" type="revolute">
+              <parent link="${name}_inner_double_link"/>
+              <child link="${name}_fingertip_2_link"/>
+              <origin xyz="-0.03200 0.04589 -0.06553" 
+                      rpy="${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="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <mimic joint="${name}_motor_double_joint" multiplier="${-1.0}" offset="0.0" />
+            </joint>
+
+
+            <link name="${name}_motor_single_link">
+              <inertial>
+                <origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
+                <mass value="0.14765"/>
+                <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000"
+                         iyy="0.00015300000" iyz="0.00003400000"
+                         izz="0.00019000000"/>
+              </inertial>
+
+              <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+                </geometry>
+              <material name="Orange"/>
+              </visual>
+
+              <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+                </geometry>
+              </collision>
+            </link>
+
+            <joint name="${name}_motor_single_joint" type="revolute">
+              <parent link="${name}_base_link"/>
+              <child link="${name}_motor_single_link"/>
+              <origin xyz="0.00000 -0.02025 -0.03000" 
+                      rpy="${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="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <mimic joint="${name}_motor_double_joint" multiplier="${-1.0}" offset="0.0" />
+            </joint>
+
+
+
+          <link name="${name}_inner_single_link">
+              <inertial>
+                <origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
+                <mass value="0.05356"/>
+                <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000"
+                         iyy="0.00003500000" iyz="0.00001700000"
+                         izz="0.00002400000"/>
+              </inertial>
+
+              <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+                </geometry>
+              <material name="Orange"/>
+              </visual>
+
+              <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+                </geometry>
+              </collision>
+            </link>
+
+            <joint name="${name}_inner_single_joint" type="revolute">
+              <parent link="${name}_base_link"/>
+              <child link="${name}_inner_single_link"/>
+              <origin xyz="0.00000 -0.00525 -0.05598" 
+                      rpy="${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="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <mimic joint="${name}_motor_double_joint" multiplier="${-1.0}" offset="0.0" />
+
+            </joint>
+
+
+            <link name="${name}_fingertip_3_link">
+              <inertial>
+                <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+                <mass value="0.02630"/>
+                <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+                         iyy="0.00000900000" iyz="0.00000100000"
+                         izz="0.00000200000"/>
+              </inertial>
+
+              <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                </geometry>
+              <material name="DarkGrey"/>
+              </visual>
+
+              <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                </geometry>
+              </collision>
+            </link>
+
+            <joint name="${name}_fingertip_3_joint" type="revolute">
+              <parent link="${name}_inner_single_link"/>
+              <child link="${name}_fingertip_3_link"/>
+              <origin xyz="0.00000 -0.04589 -0.06553" 
+                      rpy="${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="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+              <mimic joint="${name}_motor_double_joint" multiplier="${-1.0}" offset="0.0" />
+            </joint>
+
+
+
  </xacro:macro>
 
 </robot>
-- 
GitLab