Merge pull request ros-industrial-attic#138 from Danfoa/kinetic-devel

Addition of URDF for the 85mm stroke C3 gripper and FT300 sensor

Author: jproberge

robotiq_2f_140_gripper_visualization/README.md

@@ -0,0 +1,14 @@
+# Robotiq 140mm 2-Finger-Adaptive-Gripper 
+
+This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**.
+
+To test the gripper URDF description type 
+
+```
+roslaunch robotiq_2f_140_gripper_visualization test_2f_140_model.launch 
+```
+## Robot Visual
+![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png)
+
+## Robot Collision 
+![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png)

robotiq_2f_140_gripper_visualization/launch/test_robotiq_arg_2f_140_model.launch renamed to robotiq_2f_140_gripper_visualization/launch/test_2f_140_model.launch

@@ -2,11 +2,12 @@
 <package format="2">
   <name>robotiq_2f_140_gripper_visualization</name>
   <version>1.0.0</version>
-  <description>Robotiq ARG 2-Finger 140mm model</description>
+  <description>Robotiq ARG 2-Finger 140mm model C3 description package</description>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/robotiq</url>
   <author email="[email protected]">Ryan Sinnet</author>
   <maintainer email="[email protected]">Jean-Philippe Roberge</maintainer>
+  <maintainer email="[email protected]">Daniel Ordonez</maintainer>
 
   <buildtool_depend>catkin</buildtool_depend>
 

robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_140_inner_finger.stl

@@ -10,16 +10,16 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_fine.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 ${pi / 2}" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_coarse.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl" />
         </geometry>
       </collision>
     </link>
@@ -29,12 +29,14 @@
     <xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
     <xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
     <xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
   </xacro:macro>
 
   <xacro:macro name="finger_links" params="prefix fingerprefix stroke">
     <xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
     <xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
     <xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
     <xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
   </xacro:macro>
 </robot>

robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl

@@ -18,7 +18,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -27,7 +27,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -49,7 +49,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -58,7 +58,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_finger.stl" />
         </geometry>
       </collision>
     </link>
@@ -80,7 +80,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -89,7 +89,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -111,7 +111,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -120,12 +120,36 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_finger.stl" />
         </geometry>
       </collision>
     </link>
   </xacro:macro>
 
+  <!-- Finger pad link, the default are the "big pads" with rubber-->
+  <xacro:macro name="inner_finger_pad" params="prefix fingerprefix">
+    <link name="${prefix}${fingerprefix}_inner_finger_pad">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.027 0.065 0.0075"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.9 0.9 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <box size="0.03 0.07 0.0075"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.0 0.0 1" />
+        </material>
+      </collision>
+    </link>
+  </xacro:macro>
+
   <xacro:macro name="outer_finger_joint" params="prefix fingerprefix">
     <joint name="${prefix}${fingerprefix}_outer_finger_joint" type="fixed">
       <origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
@@ -148,7 +172,7 @@
 
   <xacro:macro name="inner_finger_joint" params="prefix fingerprefix">
     <joint name="${prefix}${fingerprefix}_inner_finger_joint" type="revolute">
-      <origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-.725 0 0" />
+      <origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
       <parent link="${prefix}${fingerprefix}_outer_finger" />
       <child link="${prefix}${fingerprefix}_inner_finger" />
       <axis xyz="1 0 0" />
@@ -157,6 +181,15 @@
     </joint>
   </xacro:macro>
 
+  <xacro:macro name="inner_finger_pad_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_inner_finger_pad_joint" type="fixed">
+      <origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
+      <parent link="${prefix}${fingerprefix}_inner_finger" />
+      <child link="${prefix}${fingerprefix}_inner_finger_pad" />
+      <axis xyz="0 0 1" />
+    </joint>
+  </xacro:macro>
+
   <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />
 
   <xacro:macro name="finger_joint" params="prefix">
@@ -165,7 +198,7 @@
       <parent link="${prefix}robotiq_arg2f_base_link" />
       <child link="${prefix}left_outer_knuckle" />
       <axis xyz="-1 0 0" />
-      <limit lower="0" upper="0.775" velocity="2.0" effort="1000" />
+      <limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
     </joint>
     <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
   </xacro:macro>