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
Binary files /dev/null and b/talos_description/meshes/gripper/gripper_motor_single.STL differ
diff --git a/talos_description/meshes/gripper/gripper_motor_single_collision.STL b/talos_description/meshes/gripper/gripper_motor_single_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c8bac51be45b381929d45fb583a207e69783acac
Binary files /dev/null and b/talos_description/meshes/gripper/gripper_motor_single_collision.STL differ
diff --git a/talos_description/meshes/gripper/inner_single.STL b/talos_description/meshes/gripper/inner_single.STL
new file mode 100644
index 0000000000000000000000000000000000000000..70f1fba94c8a9edd3a9a9f9f272fef1e7609bda7
Binary files /dev/null and b/talos_description/meshes/gripper/inner_single.STL differ
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
Binary files /dev/null and b/talos_description/meshes/gripper/inner_single_collision.STL differ
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 0000000000000000000000000000000000000000..16b58ec5f39f21cd5823b56cd8a5e43789467a6d
--- /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 0000000000000000000000000000000000000000..723e285c4cb957ec31aa3f5140c516c503f7e885
--- /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 5fc0e7c20bfc688a1663506a8192f32ef020450e..c315336ef2553307a8393655463c4718b85a689d 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>