From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 28 Nov 2018 22:27:39 +0000 (-0200)
Subject: Change description of Barrett Hand links.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=ac3a9d2c2938248453de2941f3b68bae32c223a0;p=ufrgs_wam.git

Change description of Barrett Hand links.
---

diff --git a/ufrgs_bhand_description/xacro/bhand.urdf.xacro b/ufrgs_bhand_description/xacro/bhand.urdf.xacro
index d71d447..6194489 100644
--- a/ufrgs_bhand_description/xacro/bhand.urdf.xacro
+++ b/ufrgs_bhand_description/xacro/bhand.urdf.xacro
@@ -1,103 +1,70 @@
 <?xml version="1.0"?>
-<robot name="bhand" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="bhand" xmlns:xacro="http://www.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:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link1.urdf.xacro" />
+  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link2.urdf.xacro" />
+  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link3.urdf.xacro" />
 
-  <xacro:bhand_base />
+  <link name="bhand_origin"/>
 
-  <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" /> 
+  <xacro:bhand_base parent="origin" link="base_link" joint="base_joint"/>
+
+  <xacro:bhand_link1 parent="base_link" link="finger1_link_1" joint="spread" type="revolute">
+  		<inertial_attr>
+  			<inertial>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+
+	Finger spread frame
+-->
+				<mass value="0.14109"/>
+				<origin xyz="0.030616 -7.3219e-5 -0.011201"/>  
+				<inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/>
+			</inertial>
+		</inertial_attr>
+		<origin xyz="0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0 ${M_PI}" /> 
 		<limit effort="30" velocity="1.5" lower="0.0" upper="${M_PI}" />
-		<mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
 		<mimic_attr/>
-  </xacro:bhand_finger>
+  </xacro:bhand_link1>
 
   <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" /> 
+  <xacro:bhand_link1 parent="base_link" link="finger2_link_1" joint="spread_finger2" type="revolute">
+  		<inertial_attr>
+    			<inertial>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+
+	Finger spread frame
+-->
+				<mass value="0.14109"/>
+				<origin xyz="0.030616 -7.3219e-5 -0.011201"/>  
+				<inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/>
+			</inertial>
+		</inertial_attr>
+		<origin xyz="-0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0 ${M_PI}" /> 
 		<limit effort="30" velocity="1.5" lower="-${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_link1>
 
-  <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" /> 
+  <xacro:bhand_link1 parent="base_link" link="finger3_link_1" joint="finger3_joint_1" type="fixed">
+    		<inertial_attr/>
+		<origin xyz="0.0 0.0 ${0.1325-0.06}" rpy="0.0 0 ${M_PI}" /> 
 		<limit effort="30" velocity="0.0" lower="0.0" upper="0.0" />
-		<mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
-		<mimic_attr/>
-  </xacro:bhand_finger>
-
-  <xacro:bhand_finger parent="finger1_link_1" link="finger1_link_2" joint="finger1_joint_2" type="revolute">
-		<origin xyz="0.050 0.0 0.0" rpy="${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_link1>
 
-  <xacro:bhand_transmission joint="finger3_joint_2" />
+  <xacro:bhand_link2 parent="finger1_link_1" link="finger1_link_2" joint="finger1_joint_2" />
+  <xacro:bhand_link2 parent="finger2_link_1" link="finger2_link_2" joint="finger2_joint_2" />
+  <xacro:bhand_link2 parent="finger3_link_1" link="finger3_link_2" 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>
+  <xacro:bhand_link3 parent="finger1_link_2" link="finger1_link_3" joint="finger1_joint_3" mimic_joint="finger1_joint_2" />
+  <xacro:bhand_link3 parent="finger2_link_2" link="finger2_link_3" joint="finger2_joint_3" mimic_joint="finger2_joint_2" />
+  <xacro:bhand_link3 parent="finger3_link_2" link="finger3_link_3" joint="finger3_joint_3" mimic_joint="finger3_joint_2" />
 
 </robot>
diff --git a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro b/ufrgs_bhand_description/xacro/bhand0.urdf.xacro
index 1722201..6344761 100644
--- a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro
+++ b/ufrgs_bhand_description/xacro/bhand0.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="bhand" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="bhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
 	<link name="world" />
 
diff --git a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro
index 5548aa2..b1f3068 100644
--- a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro
+++ b/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro
@@ -1,18 +1,25 @@
 <?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">
+   <xacro:property name="M_PI" value="3.1415926535897931" />
+   
+   <xacro:macro name="bhand_base" params="parent link joint">
+
+	<link name="bhand_${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"/>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+	
+	Hand base frame without palm pad.  Mass and inertia of finger 3 link
+	1 are included.
+-->
+			<mass value="0.59573"/>
+			<origin rpy="0 0 0" xyz="5.1098e-5 -0.0050433 0.036671" />  
+			<inertia ixx="0.00067154" ixy="2.9365e-7" ixz="-7.6321e-7" iyy="0.00048844" iyz="-7.1984e-5" izz="0.00060401"/>
 		</inertial>
 		<visual>
-			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<origin rpy="0 0 ${-M_PI/2}" xyz="0 0 -0.06"/>
 			<geometry>
 				<mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
 			</geometry>
@@ -21,7 +28,7 @@
                 	</material>
 		</visual>
 		<collision>
-			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<origin rpy="0 0 ${-M_PI/2}" xyz="0 0 -0.06"/>
 			<geometry>
 				<mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
 			</geometry>
@@ -29,18 +36,18 @@
 		</collision>
 	</link>  
 
-	<gazebo reference="bhand_base_link">
+	<gazebo reference="bhand_${link}">
 		<selfCollide>true</selfCollide>
 		<material>Gazebo/Blue</material>
 	</gazebo>
 
 
-	<joint name="bhand_base_joint" type="fixed">
+	<joint name="bhand_${joint}" type="fixed">
 		<!--origin rpy="0 0 0" xyz="-0.060 -0.140 0.206"/-->
 		<!--origin rpy="0 0 0" xyz="0.22 0.14 0.346"/-->
-		<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-		<child link="bhand_base_link"/>
-		<parent link="bhand_origin"/>
+		<origin xyz="0.0 0.0 0.06" rpy="0.0 0.0 0.0" />
+		<child link="bhand_${link}"/>
+		<parent link="bhand_${parent}"/>
 	</joint>
 
     </xacro:macro>
diff --git a/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro
similarity index 68%
rename from ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro
rename to ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro
index e9d9fc2..cdf4d01 100644
--- a/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro
+++ b/ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro
@@ -2,27 +2,34 @@
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="bhand_finger" params="parent link joint type *origin *limit *mesh **mimic_attr">
+  <xacro:macro name="bhand_link1" params="parent link joint type **inertial_attr *origin *limit **mimic_attr">
 
 	<link name="bhand_${link}">
+
+		<xacro:insert_block name="inertial_attr"/>
 		<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"/>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+
+	Finger spread frame
+-->
+			<mass value="0.14109"/>
+			<origin xyz="0.030616 -7.3219e-5 -0.011201"/>  
+			<inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/>
 		</inertial>
 		<visual>
-			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<origin rpy="0 0 ${M_PI/2}" xyz="0 0 0"/>
 			<geometry>
-				<xacro:insert_block name="mesh" />
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
 			</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"/>
+			<origin rpy="0 0 ${M_PI/2}" xyz="0 0 0"/>
 			<geometry>
-				<xacro:insert_block name="mesh" />
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
 			</geometry>
 			<contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
 		</collision>
diff --git a/ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro
new file mode 100644
index 0000000..0a7bd35
--- /dev/null
+++ b/ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro
@@ -0,0 +1,69 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="bhand_link2" params="parent link joint">
+
+	<link name="bhand_${link}">
+		<inertial>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+
+	Finger inner link frame with fingertip torque sensor
+-->
+			<mass value="0.062139"/>
+			<origin xyz="0.023133 0.00078642 0.00052792"/>  
+			<inertia ixx="4.8162e-6" ixy="5.7981e-7" ixz="-7.2483e-7" iyy="4.3317e-5" iyz="-2.6653e-9" izz="4.4441e-5"/>
+		</inertial>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
+			</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>
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
+			</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="revolute">
+		<!--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" /--> 
+
+		<origin xyz="0.0 0.05 0.0" rpy="${M_PI/2} 0.0 ${M_PI/2}" />
+		<parent link="bhand_${parent}"/>
+		<child link="bhand_${link}" />
+		<axis xyz="0 0 1"/>
+		<limit effort="30" velocity="1.5" lower="0.0" upper="${140 * M_PI / 180}" />
+
+		<!--joint_properties damping="100.0" friction="1000.0" /-->
+		<dynamics damping="1000"/>
+
+	</joint >
+
+	<transmission name="bhand_${joint}_transmission">
+		<type>transmission_interface/SimpleTransmission</type>
+		<joint name="bhand_${joint}">
+			<hardwareInterface>PositionJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="bhand_${joint}_actuator">
+			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
+	</transmission>
+
+  </xacro:macro>
+
+</robot>
diff --git a/ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro
new file mode 100644
index 0000000..581241a
--- /dev/null
+++ b/ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro
@@ -0,0 +1,78 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="bhand_link3" params="parent link joint mimic_joint">
+
+	<link name="bhand_${link}">
+		<inertial>
+<!--
+	Inertia parameters from http://support.barrett.com/wiki/Hand/280/MassProperties
+
+	Fingertip frame without fingertip pressure pad
+-->
+			<mass value="0.041377"/>
+			<origin xyz="0.022825 0.0010491 0.00042038"/>  
+			<inertia ixx="3.1053e-6" ixy="4.3996e-7" ixz="-2.9595e-7" iyy="1.6812e-5" iyz="-1.8205e-8" izz="1.5673e-5"/>
+		</inertial>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
+			</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>
+				<mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
+			</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="revolute">
+		<!--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" /--> 
+		<!--origin xyz="0.070 0 0" rpy="0 0 ${42 * M_PI / 180}" /-->
+
+		<origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
+		<parent link="bhand_${parent}"/>
+		<child link="bhand_${link}" />
+		<axis xyz="0 0 1"/>
+		
+		<!--limit lower="0" upper="${48 * M_PI / 180}" effort="30" velocity="2.0"/-->
+		<limit effort="30" velocity="1.5" lower="${40 * M_PI / 180}" upper="2.44346095" />
+
+		<!--joint_properties damping="100.0" friction="1000.0" /-->
+		<dynamics damping="1000"/>
+
+		<mimic joint="bhand_${mimic_joint}" multiplier="${48 / 140}" offset="${40 * M_PI / 180}"/>
+
+	</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>