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adding new grasp frame #44

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66 changes: 64 additions & 2 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -299,8 +299,20 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHand" type="revolute">
<joint name="LGrasp" type="revolute">
<parent link="l_wrist"/>
<child link="l_grasp_link"/>
<origin rpy="0 0 0" xyz="0.065 0 0"/>
<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
</joint>
<link name="l_grasp_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LHand" type="revolute">
<parent link="l_grasp_link"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.025 0 0"/>
<axis xyz="1.0 0 0"/>
Expand Down Expand Up @@ -442,8 +454,20 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHand" type="revolute">
<joint name="RGrasp" type="revolute">
<parent link="r_wrist"/>
<child link="r_grasp_link"/>
<origin rpy="0.0 0 0" xyz="0.065 0 0"/>
<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
</joint>
<link name="r_grasp_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RHand" type="revolute">
<parent link="r_grasp_link"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.025 0 0"/>
<axis xyz="1.0 0 0"/>
Expand Down Expand Up @@ -1677,6 +1701,9 @@
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_gripper">
<link>l_gripper</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_grasp_link">
<link>l_grasp_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger11_link">
<link>RFinger11_link</link>
</plugin>
Expand Down Expand Up @@ -1722,6 +1749,9 @@
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_gripper">
<link>r_gripper</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_grasp_link">
<link>r_grasp_link</link>
</plugin>
</gazebo>
<!-- END OF GAZEBO ROS CONTROL PLUGIN -->
<!-- GAZEBO MATERIALS -->
Expand Down Expand Up @@ -1786,6 +1816,12 @@
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_grasp_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
Expand Down Expand Up @@ -1822,6 +1858,12 @@
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_grasp_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
Expand Down Expand Up @@ -2403,6 +2445,16 @@
<mechanicalReduction>118.1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LGrasp_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LGrasp">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LGrasp_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>36.24</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LHand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LHand">
Expand Down Expand Up @@ -2463,6 +2515,16 @@
<mechanicalReduction>118.1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RGrasp_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RGrasp">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RGrasp_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>36.24</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RHand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RHand">
Expand Down
15 changes: 15 additions & 0 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,9 @@
<plugin name="${side_small}_gripper" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side_small}_gripper</link>
</plugin>
<plugin name="${side_small}_grasp_link" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side_small}_grasp_link</link>
</plugin>
</xacro:macro>
<!-- MACROS FOR MIMIC JOINTS -->
<!-- Fingers -->
Expand Down Expand Up @@ -179,6 +182,12 @@
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_grasp_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
Expand Down Expand Up @@ -216,6 +225,12 @@
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_grasp_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
Expand Down
10 changes: 10 additions & 0 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,16 @@
<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}Grasp_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}Grasp">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}Grasp_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type3B}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}Hand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}Hand">
Expand Down
28 changes: 26 additions & 2 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -78,8 +78,20 @@
</inertial>
<xacro:insert_visu_l_wrist/>
</link>
<joint name="LHand" type="revolute">
<joint name="LGrasp" type="revolute">
<parent link="l_wrist"/>
<child link="l_grasp_link"/>
<origin rpy="0 0 0" xyz="0.065 0 0"/>
<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
</joint>
<link name="l_grasp_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LHand" type="revolute">
<parent link="l_grasp_link"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.025 0 0"/>
<axis xyz="1.0 0 0"/>
Expand Down Expand Up @@ -166,8 +178,20 @@
</inertial>
<xacro:insert_visu_r_wrist/>
</link>
<joint name="RHand" type="revolute">
<joint name="RGrasp" type="revolute">
<parent link="r_wrist"/>
<child link="r_grasp_link"/>
<origin rpy="0.0 0 0" xyz="0.065 0 0"/>
<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
</joint>
<link name="r_grasp_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RHand" type="revolute">
<parent link="r_grasp_link"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.025 0 0"/>
<axis xyz="1.0 0 0"/>
Expand Down