+++ /dev/null
-cmake_minimum_required(VERSION 2.8.3)
-project(ufrgs_bhand_description)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES ufrgs_bhand_description
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/ufrgs_bhand_description.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ufrgs_bhand_description_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufrgs_bhand_description.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+++ /dev/null
-<launch>
- <arg name="world" default="false"/>
-
- <param unless="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro'" />
- <param if="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find ufrgs_bhand_description)/xacro/bhand0.urdf.xacro'" />
-</launch>
+++ /dev/null
-<launch>
- <arg name="use_gui" default="true"/>
-
- <include file="$(find ufrgs_bhand_description)/launch/bhand.launch" />
-
- <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ufrgs_bhand_description)/rviz/urdf.rviz" required="true"/>
-</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="world" default="true"/>
-
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world_name" value="worlds/empty_sky.world" />
- </include>
-
- <include file="$(find ufrgs_bhand_description)/launch/bhand.launch" >
- <arg name="world" value="$(arg world)" />
- </include>
-
- <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model bhand" respawn="false" output="screen" />
-</launch>
+++ /dev/null
-<?xml version="1.0"?>
-<package>
- <name>ufrgs_bhand_description</name>
- <version>2.0.0</version>
- <description><p>The ufrgs_bhand_description package</p>
-
- <p>This package contains xacro files for the Barrett Hand gripper.
- It is based on the iri_wam_description package developed by the IRI
- Robotics Lab but with gripper parameters (mainly inertia parameters)
- adapted to the Barrett Hand available at UFRGS.
- </p>
- </description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="fetter@ece.ufrgs.br">fetter@ece.ufrgs.br</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/ufrgs_bhand_description</url> -->
- <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
- <url type="website">http://wiki.ros.org/iri_bhand_description</url>
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
- <author>IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu)</author>
-
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
-</package>
+++ /dev/null
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /RobotModel1
- - /RobotModel1/Links1
- - /RobotModel1/Links1/bhand_origin1
- Splitter Ratio: 0.588816
- Tree Height: 559
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.588679
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ""
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.03
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame: <Fixed Frame>
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: ""
- bhand_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_origin:
- Alpha: 1
- Show Axes: true
- Show Trail: false
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: bhand_origin
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 0.651721
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: 0
- Y: 0
- Z: 0
- Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.635399
- Target Frame: <Fixed Frame>
- Value: Orbit (rviz)
- Yaw: 1.25857
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 846
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000185000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000210000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1200
- X: 312
- Y: 0
+++ /dev/null
-<?xml version="1.0"?>
-<robot name="bhand" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:property name="M_PI" value="3.1415926535897931" />
-
- <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_base.urdf.xacro" />
- <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_finger.urdf.xacro" />
-
- <xacro:bhand_base />
-
- <xacro:bhand_finger parent="base_link" link="finger1_link_1" joint="spread" type="revolute">
- <origin xyz="0.0 0.02475 0.1325" rpy="0.0 0 0" />
- <limit effort="30" velocity="1.5" lower="0.0" upper="${M_PI}" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
- <mimic_attr/>
- </xacro:bhand_finger>
-
- <xacro:bhand_transmission joint="spread" />
-
- <xacro:bhand_finger parent="base_link" link="finger2_link_1" joint="spread_finger2" type="revolute">
- <origin xyz="0.0 -0.02475 0.1325" rpy="0.0 0 0" />
- <limit effort="30" velocity="1.5" lower="-${M_PI}" upper="0.0" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
- <mimic_attr>
- <mimic joint="bhand_spread" multiplier="-1.0" offset="0" />
- </mimic_attr>
- </xacro:bhand_finger>
-
- <xacro:bhand_finger parent="base_link" link="finger3_link_1" joint="finger3_joint_1" type="fixed">
- <origin xyz="0.0 0.0 0.1325" rpy="0.0 0 0" />
- <limit effort="30" velocity="0.0" lower="0.0" upper="0.0" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
- <mimic_attr/>
- </xacro:bhand_finger>
-
- <xacro:bhand_finger parent="finger1_link_1" link="finger1_link_2" joint="finger1_joint_2" type="revolute">
- <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" />
- <limit effort="30" velocity="1.5" lower="0.0" upper="${140 * M_PI / 180}" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
- <mimic_attr/>
- </xacro:bhand_finger>
-
- <xacro:bhand_transmission joint="finger1_joint_2" />
-
- <xacro:bhand_finger parent="finger2_link_1" link="finger2_link_2" joint="finger2_joint_2" type="revolute">
- <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" />
- <limit effort="30" velocity="1.5" lower="0.0" upper="${140 * M_PI / 180}" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
- <mimic_attr/>
- </xacro:bhand_finger>
-
- <xacro:bhand_transmission joint="finger2_joint_2" />
-
- <xacro:bhand_finger parent="finger3_link_1" link="finger3_link_2" joint="finger3_joint_2" type="revolute">
- <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" />
- <limit effort="30" velocity="1.5" lower="0.0" upper="${140 * M_PI / 180}" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
- <mimic_attr/>
- </xacro:bhand_finger>
-
- <xacro:bhand_transmission joint="finger3_joint_2" />
-
- <xacro:bhand_finger parent="finger1_link_2" link="finger1_link_3" joint="finger1_joint_3" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <limit effort="30" velocity="1.5" lower="${40 * M_PI / 180}" upper="2.44346095" />
-<!--
- <origin xyz="0.070 0 0" rpy="0 0 ${42 * M_PI / 180}" />
- <limit lower="0" upper="${48 * M_PI / 180}" effort="30" velocity="2.0"/>
--->
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
-
- <mimic_attr>
- <mimic joint="bhand_finger1_joint_2" multiplier="${48 / 140}" offset="${40 * M_PI / 180}"/>
- </mimic_attr>
- </xacro:bhand_finger>
-
- <xacro:bhand_finger parent="finger2_link_2" link="finger2_link_3" joint="finger2_joint_3" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <limit effort="30" velocity="1.5" lower="${40 * M_PI / 180}" upper="2.44346095" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
-<!--
- <origin xyz="0.070 0 0" rpy="0 0 ${42 * M_PI / 180}" />
- <limit lower="0" upper="${48 * M_PI / 180}" effort="30" velocity="2.0"/>
--->
- <mimic_attr>
- <mimic joint="bhand_finger2_joint_2" multiplier="${48 / 140}" offset="${40 * M_PI / 180}"/>
- </mimic_attr>
- </xacro:bhand_finger>
-
- <xacro:bhand_finger parent="finger3_link_2" link="finger3_link_3" joint="finger3_joint_3" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <limit effort="30" velocity="1.5" lower="${40 * M_PI / 180}" upper="2.44346095" />
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
-<!--
- <origin xyz="0.070 0 0" rpy="0 0 ${42 * M_PI / 180}" />
- <limit lower="0" upper="${48 * M_PI / 180}" effort="30" velocity="2.0"/>
--->
- <mimic_attr>
- <mimic joint="bhand_finger3_joint_2" multiplier="${48 / 140}" offset="${40 * M_PI / 180}"/>
- </mimic_attr>
- </xacro:bhand_finger>
-
-</robot>
+++ /dev/null
-<?xml version="1.0"?>
-<robot name="bhand" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <link name="world" />
-
- <include filename="$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro" />
-
- <joint name="bhand_origin" type="fixed">
- <parent link="world"/>
- <child link="bhand_origin" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </joint>
-
-</robot>
+++ /dev/null
-<?xml version="1.0" ?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <xacro:macro name="bhand_base">
-
- <link name="bhand_origin"/>
-
- <link name="bhand_base_link">
- <inertial>
- <mass value="0.8"/>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
- </geometry>
- <material name="Blue">
- <color rgba="0.0 0.0 0.5 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- <gazebo reference="bhand_base_link">
- <selfCollide>true</selfCollide>
- <material>Gazebo/Blue</material>
- </gazebo>
-
-
- <joint name="bhand_base_joint" type="fixed">
- <!--origin rpy="0 0 0" xyz="-0.060 -0.140 0.206"/-->
- <!--origin rpy="0 0 0" xyz="0.22 0.14 0.346"/-->
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- <child link="bhand_base_link"/>
- <parent link="bhand_origin"/>
- </joint>
-
- </xacro:macro>
-
-</robot>
+++ /dev/null
-<?xml version="1.0" ?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
- <xacro:macro name="bhand_finger" params="parent link joint type *origin *limit *mesh **mimic_attr">
-
- <link name="bhand_${link}">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <xacro:insert_block name="mesh" />
- </geometry>
- <material name="Grey">
- <color rgba="0.5 0.5 0.5 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <xacro:insert_block name="mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- <gazebo reference="bhand_${link}">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- <joint name="bhand_${joint}" type="${type}">
- <!--origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" /-->
- <!--origin xyz="0.0 0.02475 0.1325" rpy="0.0 0 0" /-->
-
- <xacro:insert_block name="origin" />
-
- <parent link="bhand_${parent}"/>
- <child link="bhand_${link}" />
- <axis xyz="0 0 1"/>
-
- <xacro:insert_block name="limit" />
-
- <!--joint_properties damping="100.0" friction="1000.0" /-->
- <dynamics damping="1000"/>
-
- <xacro:insert_block name="mimic_attr"/>
-
- </joint >
-
- </xacro:macro>
-
- <xacro:macro name="bhand_transmission" params="joint">
-
- <transmission name="bhand_${joint}_transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="bhand_${joint}">
- <hardwareInterface>PositionJointInterface</hardwareInterface>
- </joint>
- <actuator name="bhand_${joint}_actuator">
- <hardwareInterface>PositionJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- </xacro:macro>
-
-</robot>
projects / ufrgs_wam.git / commitdiff