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Cleaned up pincher gripper description #24

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Cleaned up pincher gripper description #24

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45 changes: 6 additions & 39 deletions turtlebot_arm_description/urdf/arm_hardware.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
<xacro:property name="AX12_WIDTH" value="0.038"/>
<xacro:property name="AX12_LENGTH" value="0.050"/>
<xacro:property name="F2_HEIGHT" value="0.0265"/>
<xacro:property name="FINGER_HEIGHT" value="0.038"/>

<!-- Calculates the inertial properties of a bounding box. From
https://en.wikipedia.org/wiki/List_of_moments_of_inertia#List_of_3D_inertia_tensors-->
Expand Down Expand Up @@ -56,39 +57,6 @@
</gazebo>
</xacro:macro>

<xacro:macro name="finger_fixed" params="parent name color *origin">
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>

<link name="${name}_link">
<xacro:box_inertia length="0.0783" width="0.03801" height="0.0193" mass="0.015"/>

<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot_arm_description/meshes/turtlebot_finger.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>

<collision>
<origin xyz="0.02645 0.0 -0.00655" rpy="0 0 0"/>
<geometry>
<box size="0.0783 0.03801 0.0193"/>
</geometry>
</collision>
</link>

<gazebo reference="${name}_link">
<material>Gazebo/${color}</material>
<selfCollide>true</selfCollide>
<gravity>true</gravity>
</gazebo>
</xacro:macro>

<xacro:macro name="dynamixel_AX12_fixed" params="parent name *origin">
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin"/>
Expand Down Expand Up @@ -310,22 +278,21 @@
</joint>

<link name="${name}_link">
<xacro:box_inertia length="0.002" width="0.040" height="0.075" mass="0.00001"/>
<xacro:box_inertia length="0.002" width="0.075" height="0.040" mass="0.00001"/>
<visual>
<origin xyz="0.016 0 -.015 " rpy="${M_PI} ${-M_PI/2} ${M_PI/2}"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot_arm_description/meshes/pincher_finger_base.stl" scale=".01 .01 .01"/>
<box size="0.002 0.075 0.040"/>
</geometry>
<material name="${color}"/>
</visual>

<collision>
<origin xyz="0.016 0.0 -0.015" rpy="0 0 0"/>
<geometry>
<box size="0.002 0.040 0.075"/>
<box size="0.002 0.075 0.040"/>
</geometry>
</collision>
</link >
</link>

<gazebo reference="${name}_link">
<material>Gazebo/${color}</material>
Expand Down
47 changes: 21 additions & 26 deletions turtlebot_arm_description/urdf/pincher_gripper.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<?xml version="1.0"?>
<!-- PhantomX Pincher Arm gripper URDF-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="GRIPPER_MAX" value="0.035"/>

<bioloid_F3_fixed parent="arm_wrist_flex_link" name="arm_wrist_F3_0" color="${color}">
<origin xyz="0 0 ${F2_HEIGHT}" rpy="0 ${M_PI} ${-M_PI}"/>
</bioloid_F3_fixed>
Expand All @@ -10,43 +12,36 @@
<origin xyz="0 0 ${-AX12_WIDTH/2}" rpy="${M_PI/2} ${M_PI} ${M_PI/2}"/>
</dynamixel_AX12_fixed>

<gripper_finger_base parent="gripper_servo_link" name="gripper_finger_base" color="${color}">
<origin xyz="0.01 ${AX12_WIDTH} 0" rpy="${M_PI/2} ${-M_PI} ${M_PI/2}"/>
<gripper_finger_base parent="gripper_servo_link" name="gripper_finger_base" color="${color}">
<origin xyz="0 ${AX12_WIDTH/2} 0" rpy="${M_PI} 0 ${M_PI/2}"/>
</gripper_finger_base>

<!-- Finger 1 -->
<!-- Master finger -->
<!-- NOTE: The transmission for gripper_joint MUST specify a mechnaical reduction of two for
the gripper seperation to be calculated correctly -->
<joint name="gripper_joint" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" velocity="0.5" lower="0.002" upper="0.031"/>
<parent link="gripper_servo_link"/>
<origin xyz="${FINGER_HEIGHT/2} 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="0.05" lower="0.001" upper="${GRIPPER_MAX/2}"/>
<parent link="gripper_finger_base_link"/>
<child link="gripper_active_link"/>
</joint>

<pincher_gripper name="gripper_active" color="${color}" >
<origin xyz="-0.0086 0.0414 0" rpy="${-M_PI/2} 0 0"/>
<origin xyz="0 0.01 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
</pincher_gripper>

<!-- Finger 2 -->
<!-- Note: currently static but should be a Mimic of Finger 1 -->
<joint name="gripper2_joint" type="fixed">
<parent link="gripper_servo_link"/>
<!-- Slave finger -->
<joint name="gripper2_joint" type="prismatic">
<origin xyz="${FINGER_HEIGHT/2} 0 0" rpy="${M_PI} 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="0.05" lower="0.001" upper="${GRIPPER_MAX/2}"/>
<parent link="gripper_finger_base_link"/>
<child link="gripper_active2_link"/>
<mimic joint="gripper_joint"/>
</joint>

<pincher_gripper name="gripper_active2" color="${color}" >
<origin xyz="-0.0314 0.0414 0" rpy="${-M_PI/2} ${M_PI} 0"/>
<origin xyz="0 0.01 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
</pincher_gripper>

<!-- Using Mimic -->
<!-- gripper 2 joint -->
<!-- ### Mimic would be better but causes Missing Joint error in Moveit
<joint name="gripper2_joint" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="0.5" lower="0.002" upper="0.031"/>
<parent link="gripper_servo_link"/>
<child link="gripper_active2_link"/>
<mimic joint="gripper_joint" multiplier="-.5" offset = "0"/>
</joint-->
</robot>
7 changes: 6 additions & 1 deletion turtlebot_arm_description/urdf/turtlebot_arm.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,12 @@
that's a lot of coin! -->
<link name="gripper_link"/>
<joint name="gripper_link_joint" type="revolute">
<origin xyz="0 0 0.112" rpy="0 -1.57 0"/>
<xacro:if value="${turtlebot_gripper}">
<origin xyz="0 0 0.112" rpy="0 -1.57 0"/>
</xacro:if>
<xacro:if value="${pincher_gripper}">
<origin xyz="0 0 0.085" rpy="0 -1.57 0"/>
</xacro:if>
<parent link="arm_wrist_flex_link"/>
<child link="gripper_link"/>
<limit effort="30" velocity="1" lower="-3.14" upper="3.14"/>
Expand Down