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Add option to lock finger joints #7

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Add option to lock finger joints #7

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12 changes: 9 additions & 3 deletions end_effectors/common/franka_hand.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="franka_hand" params="connected_to:='' arm_id ee_id ee_inertials rpy:='0 0 0' xyz:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false">
<xacro:macro name="franka_hand" params="connected_to:='' arm_id ee_id ee_inertials rpy:='0 0 0' xyz:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false lock_finger_joints:=false">
<xacro:unless value="${connected_to == ''}">
<joint name="${arm_id}_hand_joint" type="fixed">
<parent link="${connected_to}" />
Expand Down Expand Up @@ -101,15 +101,21 @@
<xacro:ee-inertials name="rightfinger" />
</xacro:if>
</link>
<joint name="${arm_id}_finger_joint1" type="prismatic">
<xacro:if value="${lock_finger_joints}">
<xacro:property name="finger_joint_type" value="fixed" />
</xacro:if>
<xacro:unless value="${lock_finger_joints}">
<xacro:property name="finger_joint_type" value="prismatic" />
</xacro:unless>
<joint name="${arm_id}_finger_joint1" type="${finger_joint_type}">
<parent link="${arm_id}_hand" />
<child link="${arm_id}_leftfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2" />
<dynamics damping="0.3" />
</joint>
<joint name="${arm_id}_finger_joint2" type="prismatic">
<joint name="${arm_id}_finger_joint2" type="${finger_joint_type}">
<parent link="${arm_id}_hand" />
<child link="${arm_id}_rightfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0" />
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3 changes: 2 additions & 1 deletion end_effectors/franka_hand/franka_hand.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@
safety_distance="$(arg safety_distance)"
gazebo="$(arg gazebo)"
description_pkg="$(arg description_pkg)"
with_sc="$(arg with_sc)">
with_sc="$(arg with_sc)"
lock_finger_joints="$(arg lock_finger_joints)">
</xacro:franka_hand>

</robot>
3 changes: 3 additions & 0 deletions end_effectors/franka_hand/franka_hand_arguments.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -37,4 +37,7 @@
<!-- Should fake sensors be used? -->
<xacro:arg name="description_pkg" default="franka_description" />

<!-- Should finger joints be locked? -->
<xacro:arg name="lock_finger_joints" default="false" />

</robot>
1 change: 1 addition & 0 deletions robots/common/franka_robot.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
gazebo="${gazebo}"
description_pkg="$(arg description_pkg)"
with_sc="${with_sc}"
lock_finger_joints="$(arg lock_finger_joints)"
/>
</xacro:if>

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