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Commit 8db4533f authored by Sam Pfeiffer's avatar Sam Pfeiffer
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Add new gripper model

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talos_description/meshes/gripper/gripper_motor_single.STL 0 → 100644
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talos_description/meshes/gripper/gripper_motor_single_collision.STL 0 → 100644
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talos_description/meshes/gripper/inner_single.STL 0 → 100644
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talos_description/meshes/gripper/inner_single_collision.STL 0 → 100644
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talos_description/robots/talos_gripper.urdf.xacro 0 → 100644
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<?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>
talos_description/robots/upload_gripper.launch 0 → 100644
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<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_gripper.urdf.xacro'" />
</launch>
talos_description/urdf/gripper/gripper_v2.urdf.xacro
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− 11
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......@@ -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>
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