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F hand lite urdf #185

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merged 10 commits into from
Jan 6, 2015
Merged

F hand lite urdf #185

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ddd3444
Start on xacro.
markpitchless Dec 16, 2014
b16d3af
Bring in the new forearm part.
markpitchless Dec 17, 2014
8ca8421
Rotate the forearm
markpitchless Dec 17, 2014
8315614
Fix scale
markpitchless Dec 18, 2014
b73039a
Fix forearm color in gazebo
markpitchless Dec 18, 2014
5c567d4
Fix forearm collision.
markpitchless Dec 18, 2014
051361c
Remove wrist mount collider
markpitchless Dec 18, 2014
1c2bc38
Clean up.
markpitchless Dec 18, 2014
ca024ba
Rough weight guess for forearm
markpitchless Dec 18, 2014
881ca3e
Lock J3.
markpitchless Dec 18, 2014
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294 changes: 294 additions & 0 deletions sr_description/hand/model/forearm_lite.dae
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48 changes: 48 additions & 0 deletions sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- muscle is true for muscle hand or false for motor hand -->
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<xacro:macro name="forearm" params="muscle prefix">
<property name="M_PI" value="3.1415926535897931" />

<link name="${prefix}forearm">
<inertial>
<origin xyz="0 0 0.09" rpy="0 0 0"/>
<!-- TODO: This is a rough estimate. Total hand is 2359g -->
<mass value="1.8" />
<inertia ixx="0.108" ixy="0.0" ixz="0.0" iyy="0.108" iyz="0.0" izz="0.054" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
<geometry name="${prefix}forearm_visual">
<xacro:if value="${muscle}">
<mesh filename="package://sr_description/hand/model/forearm_lite.dae"
scale="1.0 1.0 1.0"/>
</xacro:if>
<xacro:unless value="${muscle}">
<mesh filename="package://sr_description/hand/model/forearm_lite.dae"
scale="1.0 1.0 1.0"/>
</xacro:unless>
</geometry>
<material name="Grey" />
</visual>

<collision>
<xacro:if value="${muscle}">
<origin xyz="0 0 0.185" rpy="0 0 0" />
<geometry name="${prefix}forearm_collision">
<cylinder radius="0.075" length="0.37"/>
</geometry>
</xacro:if>
<xacro:unless value="${muscle}">
<origin xyz="0 0 0.0775" rpy="0 0 0" />
<geometry name="${prefix}forearm_collision">
<box size="0.109 0.120 0.155" />
</geometry>
</xacro:unless>
</collision>
</link>

</xacro:macro>

</robot>
69 changes: 69 additions & 0 deletions sr_description/hand/xacro/hand_lite.urdf.xacro
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<robot 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"
xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find sr_description)/hand/xacro/forearm/forearm_lite.urdf.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/wrist/wrist.urdf.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/palm/palm_lite.urdf.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />

<property name="M_PI" value="3.1415926535897931" />

<!-- muscletrans is true for muscle transmission to be used, false to use motor transmission -->
<!-- muscle is true for muscle hand or false for motor hand -->
<!-- bio is true for biotac finger or false for standard finger -->
<!-- ubi is true for ubi finger or false for standard finger -->
<!-- eli is true for ellipsoid fingertip or false for standard finger -->
<!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<xacro:macro name="shadowhand" params="muscletrans muscle bio ubi eli reflect prefix">
<!-- Forearm -->
<xacro:forearm muscle="${muscle}" prefix="${prefix}" />

<!-- Wrist -->
<!-- Completely fixed on the lite hand. Bent back at 40 degrees -->
<!--
<xacro:wrist muscletrans="false" prefix="${prefix}" reflect="${reflect}" parent="${prefix}forearm">
<origin xyz="0 -0.010 0.213" rpy="0 0 0" />
</xacro:wrist>
-->
<joint name="${prefix}WRJ1" type="fixed">
<parent link="${prefix}forearm"/>
<child link="${prefix}palm"/>
<!-- <origin xyz="0 -0.010 0.213" rpy="-${M_PI/4} 0 0" /> -->
<origin xyz="0 -0.015 0.149" rpy="-${40*M_PI/180} 0 0" />
<axis xyz="0 ${reflect} 0" />
</joint>

<!-- Palm -->
<xacro:palm muscletrans="${muscletrans}" prefix="${prefix}" reflect="${reflect}" parent="${prefix}wrist" />

<!-- First Finger -->
<xacro:finger muscletrans="${muscletrans}" lf="false" bio="${bio}" ubi="${ubi}" eli="${eli}" prefix="${prefix}" reflect="${reflect}" link_prefix="ff" joint_prefix="FF" parent="${prefix}palm">
<origin xyz="${reflect*0.033} 0 0.095" rpy="0 0 0" />
<axis xyz="0 ${-1*reflect} 0" />
</xacro:finger>

<!-- Middle Finger -->
<xacro:finger muscletrans="${muscletrans}" lf="false" bio="${bio}" ubi="${ubi}" eli="${eli}" prefix="${prefix}" reflect="${reflect}" link_prefix="mf" joint_prefix="MF" parent="${prefix}palm">
<origin xyz="${reflect*0.011} 0 0.099" rpy="0 0 0" />
<axis xyz="0 ${-1*reflect} 0" />
</xacro:finger>

<!-- Ring Finger -->
<xacro:finger muscletrans="${muscletrans}" lf="false" bio="${bio}" ubi="${ubi}" eli="${eli}" prefix="${prefix}" reflect="${reflect}" link_prefix="rf" joint_prefix="RF" parent="${prefix}palm">
<origin xyz="${reflect*-0.011} 0 0.095" rpy="0 0 0" />
<axis xyz="0 ${reflect} 0" />
</xacro:finger>

<!-- No Little Finger on Lite hand -->

<!-- Thumb -->
<xacro:thumb muscletrans="${muscletrans}" bio="${bio}" ubi="${ubi}" eli="${eli}" prefix="${prefix}" reflect="${reflect}" is_lite="1" parent="${prefix}palm">
</xacro:thumb>

</xacro:macro>

</robot>
2 changes: 1 addition & 1 deletion sr_description/hand/xacro/palm/palm.urdf.xacro
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Expand Up @@ -88,7 +88,7 @@
effort="30" velocity="1.0"/>
<dynamics damping="0.1"/>
</joint>

<!-- extensions -->
<xacro:shadowhand_palm_transmission muscletrans="${muscletrans}" prefix="${prefix}" />
<xacro:shadowhand_palm_gazebo prefix="${prefix}" />
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89 changes: 89 additions & 0 deletions sr_description/hand/xacro/palm/palm_lite.urdf.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">

<xacro:include filename="$(find sr_description)/hand/xacro/palm/palm.gazebo.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/palm/palm.transmission.xacro" />

<!-- muscletrans is true for muscle transmission or false for motor transmission -->
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
<!-- parent is the parent link for the joint -->
<xacro:macro name="palm" params="muscletrans prefix reflect parent">
<link name="${prefix}palm">
<inertial>
<origin xyz="0 0 0.035" rpy="0 0 0" />
<mass value="0.3" />
<inertia ixx="0.003581" ixy="0.0" ixz="0.0" iyy="0.005287" iyz="0.0" izz="0.002545" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="${prefix}palm_visual">
<mesh filename="package://sr_description/hand/model/palm.dae"
scale="${reflect*0.001} 0.001 0.001" />
</geometry>
<material name="Grey"/>
</visual>

<collision>
<origin xyz="${reflect*0.011} 0.0085 0.038" rpy="0 0 0" />
<geometry name="${prefix}palm_collision_geom">
<box size="0.062 0.007 0.098" />
</geometry>
</collision>
<collision>
<origin xyz="${reflect*0.0005} -0.0035 0.038" rpy="0 0 0" />
<geometry>
<box size="0.041 0.017 0.098" />
</geometry>
</collision>
<!-- palm complement below first finger -->
<collision>
<origin xyz="${reflect*0.0315} -0.0035 0.073" rpy="0 0 0" />
<geometry>
<box size="0.021 0.017 0.028" />
</geometry>
</collision>
<!-- thumb pulp side -->
<collision>
<origin xyz="${reflect*0.0315} -0.0085 0.001" rpy="0 0 0" />
<geometry>
<box size="0.021 0.027 0.024" />
</geometry>
</collision>
<!-- thumb pulp central -->
<collision>
<origin xyz="${reflect*0.01} -0.017 0.011" rpy="0 0 0" />
<geometry>
<box size="0.022 0.010 0.044" />
</geometry>
</collision>
<!-- above middle finger-->
<collision>
<origin xyz="${reflect*0.011} 0 0.089" rpy="0 0 0" />
<geometry>
<box size="0.018 0.024 0.004" />
</geometry>
</collision>
<!-- metacarpal side-->
<collision>
<origin xyz="${reflect*-0.030} 0 0.009" rpy="0 0 0" />
<geometry>
<box size="0.020 0.024 0.040" />
</geometry>
</collision>
</link>

<!-- No wrist joints in a Lite palm -->

<!-- extensions -->
<xacro:shadowhand_palm_transmission muscletrans="${muscletrans}" prefix="${prefix}" />
<xacro:shadowhand_palm_gazebo prefix="${prefix}" />
</xacro:macro>

</robot>
31 changes: 21 additions & 10 deletions sr_description/hand/xacro/thumb/thhub.urdf.xacro
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Expand Up @@ -13,7 +13,8 @@
<!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<!-- parent is the parent link for the first joint -->
<xacro:macro name="thhub" params="muscle prefix parent">
<!-- is_lite is this the lite hand, if so lock J3 -->
<xacro:macro name="thhub" params="muscle prefix parent is_lite">
<link name="${prefix}thhub">
<inertial>
<mass value="0.01" />
Expand All @@ -38,15 +39,25 @@
</collision>
</link>

<joint name="${prefix}THJ3" type="revolute">
<parent link="${parent}"/>
<child link="${prefix}thhub"/>
<origin xyz="0 0 0.038" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="${-12/180*M_PI}" upper="${12/180*M_PI}" effort="10"
velocity="1.0" />
<dynamics damping="0.1"/>
</joint>
<xacro:if value="${is_lite}">
<joint name="${prefix}THJ3" type="fixed">
<parent link="${parent}"/>
<child link="${prefix}thhub"/>
<origin xyz="0 0 0.038" rpy="0 0 0" />
<axis xyz="1 0 0" />
</joint>
</xacro:if>
<xacro:unless value="${is_lite}">
<joint name="${prefix}THJ3" type="revolute">
<parent link="${parent}"/>
<child link="${prefix}thhub"/>
<origin xyz="0 0 0.038" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="${-12/180*M_PI}" upper="${12/180*M_PI}" effort="10"
velocity="1.0" />
<dynamics damping="0.1"/>
</joint>
</xacro:unless>

<!-- extensions -->
<xacro:thhub_transmission muscletrans="${muscle}" prefix="${prefix}"/>
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5 changes: 3 additions & 2 deletions sr_description/hand/xacro/thumb/thumb.urdf.xacro
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<!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<!-- parent is the parent link for the first joint -->
<xacro:macro name="thumb" params="muscletrans bio ubi eli reflect prefix parent">
<!-- is_lite is this the lite hand, if so lock J3 -->
<xacro:macro name="thumb" params="muscletrans bio ubi eli reflect prefix parent is_lite">
<!-- Base -->
<xacro:thbase muscle="${muscletrans}" prefix="${prefix}" reflect="${reflect}" parent="${parent}">
</xacro:thbase>
<!-- Proximal -->
<xacro:thproximal muscle="${muscletrans}" prefix="${prefix}" reflect="${reflect}" parent="${prefix}thbase">
</xacro:thproximal>
<!-- Hub -->
<xacro:thhub muscle="${muscletrans}" prefix="${prefix}" parent="${prefix}thproximal">
<xacro:thhub muscle="${muscletrans}" prefix="${prefix}" parent="${prefix}thproximal" is_lite="${is_lite}">>
</xacro:thhub>
<!-- Middle -->
<xacro:thmiddle muscle="${muscletrans}" bio="${bio}" prefix="${prefix}" parent="${prefix}thhub">
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14 changes: 14 additions & 0 deletions sr_description/robots/shadowhand_lite.urdf.xacro
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<robot 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"
xmlns:xacro="http://www.ros.org/wiki/xacro"
name="shadowhand_motor">

<xacro:include filename="$(find sr_description)/materials.urdf.xacro" />
<xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
<xacro:include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />

<xacro:shadowhand muscletrans="false" muscle="false" bio="false" ubi="false" eli="false" reflect="1.0" prefix="" />


</robot>