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Gazebo support + urdf model corrections #186

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Gazebo support + urdf model corrections #186

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fa69380
please prepend 'hardware_interface/'
L-eonor Mar 24, 2021
2a116bd
uncomment inertial
L-eonor Mar 24, 2021
51af51a
fix broken gripper 2f 140 robotiq/issues/150
L-eonor Mar 24, 2021
dc8acf1
fix broken gripper 2f 85 robotiq/issues/150
L-eonor Mar 24, 2021
27cdd98
fix visual mesh @ base link (stl from 140)
L-eonor Mar 24, 2021
7157707
_inner_knuckle_joint out of place
L-eonor Mar 26, 2021
eb0a1d9
model retifications
L-eonor Mar 27, 2021
0ec4371
reduced joint vel
L-eonor Mar 29, 2021
3209bfc
robotiq 85 : gazebo mimic joint specific file
L-eonor Mar 29, 2021
5f3c266
effort interface
L-eonor Mar 29, 2021
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42 changes: 42 additions & 0 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.gazebo.xacro
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@@ -0,0 +1,42 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:macro name="robotiq_arg2f_gazebo" params="prefix">
<!-- To fix broken gripper in gazebo according to the following issue-->
<!--https://github.com/ros-industrial/robotiq/issues/150-->
<gazebo>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_1">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_2">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_3">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_4">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_5">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
</plugin>
</gazebo>

</xacro:macro>

</robot>
4 changes: 2 additions & 2 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro
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@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="robotiq_arg2f_base_link" params="prefix">
<link name="${prefix}robotiq_arg2f_base_link">
<inertial>
Expand Down Expand Up @@ -39,4 +39,4 @@
<xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
</xacro:macro>
</robot>
</robot>
14 changes: 8 additions & 6 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro
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@@ -1,6 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
<xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.gazebo.xacro" />

<xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_knuckle">
Expand Down Expand Up @@ -165,7 +166,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}${fingerprefix}_inner_knuckle" />
<axis xyz="1 0 0" />
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="-0.8757" upper="0" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
</xacro:macro>
Expand All @@ -176,7 +177,7 @@
<parent link="${prefix}${fingerprefix}_outer_finger" />
<child link="${prefix}${fingerprefix}_inner_finger" />
<axis xyz="1 0 0" />
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="0" upper="0.8757" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
</xacro:macro>
Expand All @@ -198,7 +199,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}left_outer_knuckle" />
<axis xyz="-1 0 0" />
<limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
<limit lower="0" upper="0.7" velocity="0.5" effort="1000" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
</xacro:macro>
Expand All @@ -209,7 +210,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
<limit lower="-0.725" upper="0" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
Expand All @@ -222,5 +223,6 @@
<xacro:finger_joint prefix="${prefix}"/>
<xacro:right_outer_knuckle_joint prefix="${prefix}"/>
<xacro:robotiq_arg2f_transmission prefix="${prefix}"/>
<xacro:robotiq_arg2f_gazebo prefix="${prefix}"/>
</xacro:macro>
</robot>
</robot>
7 changes: 4 additions & 3 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro
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@@ -1,14 +1,15 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="robotiq_arg2f_transmission" params="prefix">
<transmission name="${prefix}finger_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}finger_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<!--<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>-->
</joint>
<actuator name="${prefix}finger_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
</robot>
Binary file added robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl
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2 changes: 1 addition & 1 deletion robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
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Expand Up @@ -10,7 +10,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
<mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand Down
47 changes: 47 additions & 0 deletions robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">


<!-- To fix broken gripper in gazebo according to the following issue-->
<!--https://github.com/ros-industrial/robotiq/issues/150-->
<gazebo>
<!-- loading plugin: mimic joints works in gazebo now-->
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_4">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
<multiplier>1.0</multiplier>
<!--<multiplier>-1.0</multiplier>-->
<!--<offset>0.0</offset>-->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_2">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<!--<multiplier>1.0</multiplier>-->
<!--<offset>0.0</offset>-->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_6">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<!--<multiplier>1.0</multiplier>-->
<!--<offset>0.0</offset>-->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_3">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
<multiplier>1.0</multiplier>
<!--<multiplier>-1.0</multiplier>-->
<!--<offset>0.0</offset>-->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_5">
<joint>${prefix}finger_joint</joint>
<mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
<multiplier>1.0</multiplier>
<!--<multiplier>-1.0</multiplier>-->
<!--<offset>0.0</offset>-->
</plugin>
</gazebo>


</robot>
24 changes: 12 additions & 12 deletions robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
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Expand Up @@ -4,11 +4,11 @@

<xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_knuckle">
<!--<inertial>
<inertial>
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
<mass value="0.00853198276973456" />
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -29,11 +29,11 @@

<xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_finger">
<!--<inertial>
<inertial>
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
<mass value="0.022614240507152" />
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -54,11 +54,11 @@

<xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_knuckle">
<!--<inertial>
<inertial>
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
<mass value="0.0271177346495152" />
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -79,11 +79,11 @@

<xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_finger">
<!--<inertial>
<inertial>
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
<mass value="0.0104003125914103" />
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand Down Expand Up @@ -142,7 +142,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}${fingerprefix}_inner_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="0" upper="0.8757" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
</xacro:macro>
Expand All @@ -153,7 +153,7 @@
<parent link="${prefix}${fingerprefix}_outer_finger" />
<child link="${prefix}${fingerprefix}_inner_finger" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="-0.8757" upper="0" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
</xacro:macro>
Expand All @@ -175,7 +175,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}left_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8" velocity="2.0" effort="1000" />
<limit lower="0" upper="0.8" velocity="0.5" effort="1000" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
</xacro:macro>
Expand All @@ -186,7 +186,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.81" velocity="2.0" effort="1000" />
<limit lower="0" upper="0.81" velocity="0.5" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
Expand Down
8 changes: 7 additions & 1 deletion robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro
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Expand Up @@ -4,11 +4,17 @@
<transmission name="${prefix}finger_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}finger_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<!--<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>-->
</joint>
<actuator name="${prefix}finger_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<!--Gazebo mimic joints-->
<xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_85.gazebo.xacro" />


</xacro:macro>
</robot>