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[WIP] Add gripper to xacro #31

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[WIP] Add gripper to xacro #31

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62 changes: 62 additions & 0 deletions ar4_description/config/link_properties.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -246,3 +246,65 @@ link_6:
dr: 0.0
dp: 0.0
dY: 0.0

gripper_base:
inertial:
size:
dx: 0.035
dy: 0.02
dz: 0.02
mass: 0.08
origin:
dx: 0.0
dy: -0.025
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0
visual:
origin:
dx: 0.0
dy: 0.0
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0
collision:
origin:
dx: 0.0
dy: 0.0
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0

finger:
inertial:
size:
dx: 0.007
dy: 0.015
dz: 0.02
mass: 0.01
origin:
dx: -0.005
dy: -0.015
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0
visual:
origin:
dx: 0.0
dy: 0.0
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0
collision:
origin:
dx: 0.0
dy: 0.0
dz: 0.0
dr: 0.0
dp: 0.0
dY: 0.0
Binary file added ar4_description/meshes/gripper_base.stl
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Binary file added ar4_description/meshes/gripper_finger.stl
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27 changes: 27 additions & 0 deletions ar4_description/urdf/ar4.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -111,4 +111,31 @@
<axis xyz="0 0 1"/>
<limit lower="${-1.0 * robot_parameters['j6_limit']}" upper="${robot_parameters['j6_limit']}" effort="100" velocity="1.0"/>
</joint>

<xacro:gripper_base parent="link_6"
inertial="${robot_properties['gripper_base']['inertial']}"
visual="${robot_properties['gripper_base']['visual']}"
collision="${robot_properties['gripper_base']['collision']}">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:gripper_base>

<xacro:finger number="1"
pitch_rotation="0.0"
mimic="false"
inertial="${robot_properties['finger']['inertial']}"
visual="${robot_properties['finger']['visual']}"
collision="${robot_properties['finger']['collision']}">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:finger>

<xacro:finger number="2"
pitch_rotation="${-pi}"
mimic="true"
inertial="${robot_properties['finger']['inertial']}"
visual="${robot_properties['finger']['visual']}"
collision="${robot_properties['finger']['collision']}">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:finger>


</robot>
55 changes: 55 additions & 0 deletions ar4_description/urdf/include/common_macros.urdf.xacro
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Expand Up @@ -47,6 +47,61 @@
</xacro:if>
</xacro:macro>

<!-- ===================== Gripper base xacro ================================== -->
<xacro:macro name="gripper_base" params="parent *origin inertial visual collision">

<joint name="gripper_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${pi}"/>
<parent link="${parent}"/>
<child link="gripper_base_link"/>
</joint>

<link name="gripper_base_link">
<xacro:insert_block name="origin"/>

<xacro:box_inertia m="${inertial['mass']}"
x="${inertial['size']['dx']}"
y="${inertial['size']['dy']}"
z="${inertial['size']['dz']}"
o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
</xacro:box_inertia>

<xacro:mesh_loop meshes="${['gripper_base']}" materials="${['grey']}" visual="${visual}" collision="${collision}" />

</link>

</xacro:macro>

<!-- ===================== Gripper finger ================================== -->
<xacro:macro name="finger" params="number pitch_rotation mimic *origin inertial visual collision">

<joint name="finger_joint${number}" type="prismatic">
<origin xyz="0.0 -0.036 0" rpy="0.0 ${pitch_rotation} 0.0"/>
<parent link="gripper_base_link"/>
<child link="finger${number}"/>
<axis xyz="1 0 0"/>
<limit lower="-0.014" upper="0" effort="100" velocity="1.0"/>
<xacro:if value="${mimic == 'true'}">
<mimic joint="finger_joint1" multiplier="1" offset="0"/>
</xacro:if>
</joint>

<link name="finger${number}">
<xacro:insert_block name="origin"/>

<xacro:box_inertia m="${inertial['mass']}"
x="${inertial['size']['dx']}"
y="${inertial['size']['dy']}"
z="${inertial['size']['dz']}"
o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
</xacro:box_inertia>

<xacro:mesh_loop meshes="${['gripper_finger']}" materials="${['black']}" visual="${visual}" collision="${collision}" />
</link>

</xacro:macro>


<!-- ===================== Box inertia xacro ================================== -->
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