Change intertia parameters according to Barrett Wam Documentation.
Change launch files.
--- /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>
<launch>
<arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
<arg name="use_gui" default="false"/>
<remap from="/joint_states" to="wam/joint_states" />
<include file="$(find wam_description)/launch/display.launch" >
<arg name="table" value="$(arg table)"/>
+ <arg name="bhand" value="$(arg bhand)"/>
<arg name="use_gui" value="$(arg use_gui)" />
</include>
+ <!-- For this to work, a controller manager should be loaded -->
+
<!--include file="$(find wam_controllers)/launch/computed_torque.launch" /-->
</launch>
<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
<arg name="table" default="true"/>
+ <arg name="bhand" default="false"/>
+
<include file="$(find wam_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="table" value="$(arg table)"/>
+ <arg name="bhand" value="$(arg bhand)"/>
</include>
<include file="$(find wam_controllers)/launch/computed_torque.launch" />
type="wam_controllers::ComputedTorqueController"
base_class_type="controller_interface::ControllerBase">
<description>
- The ComputedTorqueControllers linearizes the Barrett WAM dynamic
- model. The linearized inputs are joint accelerations.
- It expects an EffortJointInterface type of hardware interface.
+ The ComputedTorqueController implements a computed torque controller
+ in joint space for the Barrett WAM dynamic model. The reference
+ inputs (command in the ROS nomenclature) are joint positions,
+ velocities and accelerations. This typf of controller expects an
+ EffortJointInterface type of hardware interface.
</description>
</class>
<launch>
<arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
<arg name="use_gui" default="true"/>
<include file="$(find wam_description)/launch/wam.launch" >
<arg name="table" value="$(arg table)" />
+ <arg name="bhand" value="$(arg bhand)" />
</include>
<node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
<launch>
<arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
<arg name="table" default="true"/>
+ <arg name="bhand" 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="$(find wam_description)/launch/wam.launch" >
<arg name="table" value="$(arg table)" />
+ <arg name="bhand" value="$(arg bhand)" />
</include>
<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
<launch>
<arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
<arg name="world" default="false"/>
<group unless="$(arg world)">
- <param unless="$(arg table)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam.urdf.xacro'" />
- <param if="$(arg table)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_table.urdf.xacro'" />
+ <group unless="$(arg table)">
+ <param unless="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam.urdf.xacro'" />
+ <param if="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_bhand.urdf.xacro'" />
+ </group>
+ <group if="$(arg table)">
+ <param unless="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_table.urdf.xacro'" />
+ <param if="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_bhand_table.urdf.xacro'" />
+ </group>
</group>
- <param if="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_world.urdf.xacro'" />
+ <group if="$(arg world)">
+ <param unless="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_world.urdf.xacro'" />
+ <param if="$(arg bhand)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_bhand_world.urdf.xacro'" />
+ </group>
</launch>
<name>wam_description</name>
<version>2.1.0</version>
<description><p>The wam_description package</p>
- <p>This package contains xacro files for the Barrett WAM robot
- arm. It is based on the iri_wam_description package developed by the
- IRI Robotics Lab but with robot parameters (mainly inertia
- parameters) adapted to the Barrett WAM available at UFRGS.
+ <p>This package contains xacro files for the Barrett WAM robot arm.
+ It is based on the iri_wam_description package developed by the IRI
+ Robotics Lab. However, coordinate frames were modified to follow
+ the Denavit-Hartenberg convention, as libBarrett is based on it,
+ and inertial parameters were included. Inertial parameters were
+ obtained from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, Document: D1005, Version: AC.02.
</p>
</description>
- /Global Options1
- /Status1
- /Grid1
- Splitter Ratio: 0.5
- Tree Height: 553
+ - /RobotModel1
+ - /RobotModel1/Links1
+ - /RobotModel1/Links1/bhand_base_link1
+ - /RobotModel1/Links1/wam_link_01
+ - /RobotModel1/Links1/wam_link_11
+ - /RobotModel1/Links1/wam_link_21
+ - /RobotModel1/Links1/wam_link_31
+ - /RobotModel1/Links1/wam_link_41
+ - /RobotModel1/Links1/wam_link_51
+ - /RobotModel1/Links1/wam_link_61
+ - /RobotModel1/Links1/wam_link_71
+ - /RobotModel1/Links1/wam_link_base1
+ - /RobotModel1/Links1/wam_link_footprint1
+ - /RobotModel1/Links1/wam_origin1
+ - /RobotModel1/Links1/wam_tool_plate1
+ - /RobotModel1/Links1/world1
+ Splitter Ratio: 0.721154
+ Tree Height: 454
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- - Alpha: 1
+ - Alpha: 0.3
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- wam_link_1:
+ bhand_base_link:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ bhand_finger1_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_2:
+ bhand_finger1_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_3:
+ bhand_finger1_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_4:
+ bhand_finger2_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_5:
+ bhand_finger2_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_6:
+ bhand_finger2_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_7:
+ bhand_finger3_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_link_base:
+ bhand_finger3_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- wam_origin:
+ bhand_finger3_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
- wam_tool_plate:
+ Value: true
+ bhand_origin:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ leg1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
+ leg2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table_top_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_0:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_1:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_2:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_3:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_3_virtual:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wam_link_4:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_4_virtual:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wam_link_5:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_6:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_7:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ Value: true
+ wam_link_base:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ wam_link_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wam_origin:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wam_tool_plate:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
+ world:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: false
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Enabled: true
Global Options:
Background Color: 48; 48; 48
- Fixed Frame: wam_origin
+ Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
Views:
Current:
Class: rviz/Orbit
- Distance: 10
+ Distance: 0.776736
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
+ X: -0.948974
+ Y: 0.396795
+ Z: 1.84864
Name: Current View
Near Clip Distance: 0.01
- Pitch: 0.785398
+ Pitch: 0.0148
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.785398
+ Yaw: 2.54046
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 846
+ Height: 741
Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd00000004000000000000013c00000251fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003600000251000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000251fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000036000002510000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d006501000000000000045000000000000000000000036e0000025100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Tool Properties:
collapsed: false
Views:
- collapsed: false
+ collapsed: true
Width: 1200
- X: 476
- Y: 54
+ X: 82
+ Y: 0
--- /dev/null
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Grid1
+ Splitter Ratio: 0.5
+ Tree Height: 553
+ - 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: Links in Alphabetic Order
+ wam_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_link_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wam_origin:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wam_tool_plate:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 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: wam_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: 10
+ 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: 0.785398
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.785398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 476
+ Y: 54
<xacro:include filename="$(find wam_description)/xacro/wam_tool_plate.urdf.xacro" />
<xacro:wam_base/>
- <xacro:wam_j1 parent="wam_link_base"/>
+ <xacro:wam_j1 parent="wam_link_0"/>
<xacro:wam_j2 parent="wam_link_1"/>
<xacro:wam_j3 parent="wam_link_2"/>
<xacro:wam_j4 parent="wam_link_3"/>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_base">
<link name="wam_origin"/>
-
- <link name="wam_link_base">
+ <link name="wam_link_footprint" />
+ <joint name="wam_link_footprint_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <child link="wam_link_footprint"/>
+ <parent link="wam_origin"/>
+ </joint>
+
+ <link name="wam_link_base" />
+ <joint name="wam_link_base_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <child link="wam_link_base"/>
+ <parent link="wam_origin"/>
+ </joint>
+
+
+<!-- Just to debug link 0 inertial orientation -->
+<!--
+ <link name="wam_link_0_inertial" />
+ <joint name="wam_link_0_inertial_joint" type="fixed">
+ <origin xyz="-0.14071720 -0.02017671 -0.26604706" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+ <child link="wam_link_0_inertial"/>
+ <parent link="wam_link_0"/>
+ </joint>
+-->
+
+ <link name="wam_link_0">
<inertial>
- <mass value="9.97059584"/>
- <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
- <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
+<!--
+ Inertia parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 9-10, Document: D1005, Version: AC.02
+
+ Note that the AXES used to compute the parameters are ROTATED with
+ respect to the frame axes:
+
+ Inertial_X -> Frame Y
+ Inertial_Y -> Frame Z
+ Inertial_Z -> Frame_X
+-->
+ <mass value="9.97059584"/>
+ <origin xyz="-0.14071720 -0.02017671 -0.26604706" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+ <inertia ixx="0.10916849" ixy="0.00640270" ixz="0.02557874" iyy="0.18294303" iyz="0.00161433" izz="0.11760385"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_link_base_visual">
+ <geometry name="wam_link_0_visual">
<mesh filename="package://wam_description/meshes/wambase.stl" scale="1.0 1.0 1.0"/>
</geometry>
<material name="LightGrey">
</collision>
</link>
- <gazebo reference="wam_link_base">
+ <gazebo reference="wam_link_0">
<selfCollide>true</selfCollide>
<material>Gazebo/White</material>
</gazebo>
- <joint name="wam_base_joint" type="fixed">
+ <joint name="wam_joint_0" type="fixed">
<!--origin rpy="0 0 0" xyz="-0.060 -0.140 0.206"/-->
<origin rpy="0 0 0" xyz="0.22 0.14 0.346"/>
- <child link="wam_link_base"/>
- <parent link="wam_origin"/>
+ <child link="wam_link_0"/>
+ <parent link="wam_link_base"/>
</joint>
</xacro:macro>
--- /dev/null
+<?xml version="1.0"?>
+<robot name="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
+ <xacro:include filename="$(find wam_description)/xacro/wam.urdf.xacro" />
+
+ <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro" />
+
+ <joint name="wam_tool_plate_bhand_joint" type="fixed">
+ <parent link="wam_tool_plate"/>
+ <child link="bhand_origin" />
+ <!--origin xyz="0.0 0.013 0.0" rpy="${-M_PI/2} 0.0 0.0" /-->
+ <origin xyz="0.0 0.0 -0.06" rpy="0.0 0.0 ${M_PI}" />
+ </joint>
+
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+
+<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <property name="M_PI" value="3.1415926535897931" />
+
+ <link name="world" />
+
+ <xacro:include filename="$(find wam_description)/xacro/table.urdf.xacro" />
+
+ <joint name="world_table_joint" type="fixed">
+ <parent link="world"/>
+ <child link="table_top_link" />
+ <origin xyz="${-table_x} ${-table_y} ${-table_z}" rpy="0.0 0.0 0.0" />
+ </joint>
+
+
+ <xacro:include filename="$(find wam_description)/xacro/wam_bhand.urdf.xacro" />
+
+ <joint name="table_wam_joint" type="fixed">
+ <parent link="table_top_link"/>
+ <child link="wam_origin" />
+ <origin xyz="${(1.0-0.220)} -0.140 ${table_height}" rpy="0.0 0.0 0.0" />
+ </joint>
+
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+
+<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <link name="world" />
+
+ <xacro:include filename="$(find wam_description)/xacro/wam_bhand.urdf.xacro" />
+
+ <joint name="world_wam_joint" type="fixed">
+ <parent link="world"/>
+ <child link="wam_origin" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+</robot>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j1" params="parent">
<link name="wam_link_1">
<inertial>
+<!--
+ from Barrett Technology, Inc, WAM Arm Inertial Specifications, 2008,
+ pages 11-12, Document: D1005, Version: AC.02
+-->
+
<mass value="10.76768767"/>
<origin xyz="-0.00443422 0.12189039 -0.00066489" />
- <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
+ <inertia ixx="0.13488033" ixy="-0.00213041" ixz="-0.00012485" iyy="0.11328369" iyz="0.00068555" izz="0.09046330"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_link_1_visual">
<mesh filename="package://wam_description/meshes/wam1.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_j1_collision">
<mesh filename="package://wam_description/meshes/wam1.stl" scale="1.0 1.0 1.0"/>
</geometry>
<joint name="wam_joint_1" type="revolute">
<parent link="${parent}"/>
<child link="wam_link_1"/>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 0 1"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 -1 0"/>
<limit effort="30" lower="-2.6" upper="2.6" velocity="2.0"/>
<!-- <safety_controller k_velocity="0.5"/> -->
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
</joint>
<transmission name="j1_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j2" params="parent">
<link name="wam_link_2">
<inertial>
+<!--
+ from Barrett Technology, Inc, WAM Arm Inertial Specifications, 2008,
+ pages 13-14, Document: D1005, Version: AC.02
+
+-->
<mass value="3.87493756"/>
<origin xyz="-0.00236983 0.03105614 0.01542114" />
- <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
+ <inertia ixx="0.02140958" ixy="0.00027172" ixz="0.00002461" iyy="0.01377875" iyz="-0.00181920" izz="0.01558906"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<joint name="wam_joint_2" type="revolute">
<parent link="${parent}"/>
<child link="wam_link_2"/>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.0" upper="2.0" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
</joint>
<transmission name="j2_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j3" params="parent">
<link name="wam_link_3">
<inertial>
+<!--
+ Inertial parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 15-16, Document: D1005, Version: AC.02
+-->
<mass value="1.80228141"/>
<origin xyz="-0.03825858 0.20750770 0.00003309" />
- <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
+ <inertia ixx="0.05911077" ixy="-0.00249612" ixz="0.00000738" iyy="0.00324550" iyz="-0.00001767" izz="0.05927043"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="-0.045 0.55 0.0"/>
<geometry name="wam_link_3_visual">
<mesh filename="package://wam_description/meshes/wam3.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="-0.045 0.55 0.0"/>
<geometry name="wam_link_3_collision">
<mesh filename="package://wam_description/meshes/wam3.stl" scale="1.0 1.0 1.0"/>
</geometry>
<selfCollide>true</selfCollide>
</gazebo>
+ <!-- Virtual joint and link are necessary due to the offset, in
+ order to keep the Denavit-Hartenberg convention, as libBarrett and
+ the Inertial Specifications uses it. -->
+ <link name="wam_link_3_virtual" />
<joint name="wam_joint_3" type="revolute">
<parent link="${parent}"/>
- <child link="wam_link_3"/>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 0 1"/>
+ <child link="wam_link_3_virtual"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.55"/>
+ <axis xyz="0 1 0"/>
<limit effort="30" lower="-2.8" upper="2.8" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
<dynamics damping="0.75" friction="${3.0/7}"/>
</joint>
+ <joint name="wam_joint_3_virtual" type="fixed">
+ <parent link="wam_link_3_virtual"/>
+ <child link="wam_link_3"/>
+ <origin rpy="0 0 0" xyz="0.045 0.0 0.0"/>
+ </joint>
+
<transmission name="j3_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
</xacro:macro>
</robot>
-
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j4" params="parent">
<link name="wam_link_4">
<inertial>
- <mass value="1.06513649"/>
- <origin xyz="0.01095471 -0.00002567 0.14053900" />
- <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
+<!--
+ Inertial parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 21-22, Document: D1005, Version: AC.02
+-->
+ <mass value="2.40016804"/>
+ <origin xyz="0.00498512 -0.000022942 0.13271662" />
+ <inertia ixx="0.01491672" ixy="0.00001741" ixz="-0.00150604" iyy="0.01482922" iyz="-0.00002109" izz="0.00294463"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.045 0.0 0.0"/>
<geometry name="wam_link_4_visual">
<mesh filename="package://wam_description/meshes/wam4.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.045 0.0 0.0"/>
<geometry name="wam_link_4_collision">
<mesh filename="package://wam_description/meshes/wam4.stl" scale="1.0 1.0 1.0"/>
</geometry>
<selfCollide>true</selfCollide>
</gazebo>
+ <!-- Virtual joint and link are necessary due to the offset, in
+ order to keep the Denavit-Hartenberg convention, as libBarrett and
+ the Inertial Specifications uses it. -->
+ <link name="wam_link_4_virtual" />
<joint name="wam_joint_4" type="revolute">
<parent link="${parent}"/>
- <child link="wam_link_4"/>
- <origin rpy="-1.57079632679 0 0" xyz="0.045 0.0 0.55"/>
- <axis xyz="0 0 1"/>
+ <child link="wam_link_4_virtual"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
<limit effort="35" lower="-0.9" upper="3.1" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
<dynamics damping="0.4" friction="${3.0/7}"/>
</joint>
+ <joint name="wam_joint_4_virtual" type="fixed">
+ <parent link="wam_link_4_virtual"/>
+ <child link="wam_link_4"/>
+ <origin rpy="0 0 0" xyz="-0.045 0.0 0.0"/>
+ </joint>
+
+
<transmission name="j4_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
</xacro:macro>
</robot>
-
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j5" params="parent">
<link name="wam_link_5">
<inertial>
+<!--
+ Inertial parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 23-24, Document: D1005, Version: AC.02
+-->
<mass value="0.12376019"/>
<origin xyz="0.00008921 0.00511217 0.00435824" />
- <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
+ <inertia ixx="0.00005029" ixy="0.00000020" ixz="-0.00000005" iyy="0.00007582" iyz="-0.00000359" izz="0.00006270"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_link_5_visual">
<mesh filename="package://wam_description/meshes/wam5.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_link_5_collision">
<mesh filename="package://wam_description/meshes/wam5.stl" scale="1.0 1.0 1.0"/>
</geometry>
<joint name="wam_joint_5" type="revolute">
<parent link="${parent}"/>
<child link="wam_link_5"/>
- <origin rpy="1.57079632679 0 0" xyz="-0.045 -0.3 0.0"/>
- <axis xyz="0 0 1"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.3"/>
+ <axis xyz="0 1 0"/>
<limit effort="30" lower="-4.8" upper="1.3" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
<dynamics damping="0.25" friction="${3.0/7}"/>
</joint>
<transmission name="j5_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:property name="M_PI" value="3.1415926535897931" />
+
<xacro:macro name="wam_j6" params="parent">
<link name="wam_link_6">
<inertial>
+<!--
+ Inertial parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 25-26, Document: D1005, Version: AC.02
+-->
<mass value="0.41797364"/>
<origin xyz="-0.00012262 -0.01703194 0.02468336" />
- <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
+ <inertia ixx="0.00055516" ixy="0.00000061" ixz="-0.00000074" iyy="0.00024367" iyz="-0.00004590" izz="0.00045358"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_link_6_visual">
<mesh filename="package://wam_description/meshes/wam6.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
<geometry name="wam_link_6_collision">
<mesh filename="package://wam_description/meshes/wam6.stl" scale="1.0 1.0 1.0"/>
</geometry>
<joint name="wam_joint_6" type="revolute">
<parent link="${parent}"/>
<child link="wam_link_6"/>
- <origin rpy="-1.57079632679 0 0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 0 1"/>
+ <origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
<limit effort="30" lower="-1.6" upper="1.6" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
<dynamics damping="0.05" friction="0.0"/>
</joint>
<transmission name="j6_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
</xacro:macro>
</robot>
-
<link name="wam_link_7">
<inertial>
+<!--
+ Inertial parameters from Barrett Technology, Inc, WAM Arm Inertial
+ Specifications, 2008, pages 27-28, Document: D1005, Version: AC.02
+-->
<mass value="0.06864753"/>
<origin xyz="-0.00007974 0.00016313 -0.00323552" />
- <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
+ <inertia ixx="0.00003773" ixy="-0.00000019" ixz="0.00000000" iyy="0.00003806" iyz="-0.00000000" izz="0.00007408"/>
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.06"/>
<geometry name="wam_link_7_visual">
<mesh filename="package://wam_description/meshes/wam7.stl" scale="1.0 1.0 1.0"/>
</geometry>
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.06"/>
<geometry name="wam_link_7_collision">
<mesh filename="package://wam_description/meshes/wam7.stl" scale="1.0 1.0 1.0"/>
</geometry>
<joint name="wam_joint_7" type="revolute">
<parent link="${parent}"/>
<child link="wam_link_7"/>
- <origin rpy="1.57079632679 0 0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.06"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-2.2" upper="2.2" velocity="2.0"/>
<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
</joint>
<transmission name="j7_transmission">
- <type>transmission_interface/SimpleTransmission"</type>
+ <type>transmission_interface/SimpleTransmission</type>
<joint name="wam_joint_7">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
</xacro:macro>
</robot>
-
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-<property name="M_PI" value="3.1415926535897931" />
-
<xacro:macro name="wam_tool_plate" params="parent">
- <link name="wam_tool_plate">
- <inertial>
- <mass value="0.0001" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
- </inertial>
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <geometry name="wam_tool_plate_visual">
- <box size="0.001 0.001 0.001" />
- </geometry>
- <material name="Grey" >
- <color rgba="0.75 0.75 0.75 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <geometry name="wam_base_collision">
- <box size="0.001 0.001 0.001" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
- <gazebo reference="wam_tool_plate">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- </gazebo>
+ <link name="wam_tool_plate" />
<joint name="wam_tool_plate_joint" type="fixed">
<parent link="${parent}"/>
<child link="wam_tool_plate"/>
- <!--origin xyz="-0.045 -0.3 0.0" rpy="${M_PI/2} 0 0" /-->
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</joint>
projects / ufrgs_wam.git / commitdiff