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Merge pull request #167 from iirob/pw70_description
Pw70 description
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:macro name="schunk_pw70_gazebo" params="name"> | ||
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| <gazebo reference="${name}_pan_link"> | ||
| <gravity>true</gravity> | ||
| <self_collide>false</self_collide> | ||
| </gazebo> | ||
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| <gazebo reference="${name}_tilt_link"> | ||
| <gravity>true</gravity> | ||
| <self_collide>false</self_collide> | ||
| </gazebo> | ||
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| </xacro:macro> | ||
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| </robot> |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:macro name="schunk_pg70_transmission" params="name"> | ||
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| <!-- finger1 --> | ||
| <transmission name="${name}_pan_rotation"> | ||
| <type>transmission_interface/SimpleTransmission</type> | ||
| <joint name="${name}_pan_joint"> | ||
| <hardwareInterface>PositionJointInterface</hardwareInterface> | ||
| <hardwareInterface>VelocityJointInterface</hardwareInterface> | ||
| <hardwareInterface>EffortJointInterface</hardwareInterface> | ||
| </joint> | ||
| <actuator name="${name}_pan_motor"> | ||
| <mechanicalReduction>1</mechanicalReduction> | ||
| </actuator> | ||
| </transmission> | ||
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| <!-- finger2 - mimic --> | ||
| <transmission name="${name}_tilt_rotation"> | ||
| <type>transmission_interface/SimpleTransmission</type> | ||
| <joint name="${name}_tilt_joint"> | ||
| <hardwareInterface>PositionJointInterface</hardwareInterface> | ||
| <hardwareInterface>VelocityJointInterface</hardwareInterface> | ||
| <hardwareInterface>EffortJointInterface</hardwareInterface> | ||
| </joint> | ||
| <actuator name="${name}_tilt_motor"> | ||
| <mechanicalReduction>1</mechanicalReduction> | ||
| </actuator> | ||
| </transmission> | ||
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| </xacro:macro> | ||
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| </robot> |
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| @@ -0,0 +1,180 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="$(find schunk_description)/urdf/pw70/pw70.gazebo.xacro" /> | ||
| <xacro:include filename="$(find schunk_description)/urdf/pw70/pw70.transmission.xacro" /> | ||
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| <xacro:macro name="schunk_pw70" params="parent name *origin is_upsidedown"> | ||
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| <xacro:unless value="${is_upsidedown}"> | ||
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| <joint name="${name}_joint" type="fixed" > | ||
| <xacro:insert_block name="origin" /> | ||
| <parent link="${parent}" /> | ||
| <child link="${name}_link" /> | ||
| </joint> | ||
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| <link name="${name}_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0.07" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_tilt_joint" type="revolute" > | ||
| <origin xyz="0 0 0.07" rpy="0 0 0"/> | ||
| <parent link="${name}_link" /> | ||
| <child link="${name}_tilt_link" /> | ||
| <axis xyz="-1 0 0" /> | ||
| <limit effort="12.0" velocity="4.1" lower="${-4/6 * M_PI}" upper="${4/6 * M_PI}"/> | ||
| <calibration rising="0.0"/> | ||
| </joint> | ||
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| <link name="${name}_tilt_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_body.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_body.stl" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_pan_joint" type="revolute" > | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <parent link="${name}_tilt_link" /> | ||
| <child link="${name}_pan_link" /> | ||
| <axis xyz="0 0 1" /> | ||
| <limit effort="200" velocity="${2 * M_PI}" lower="${-7/3 * M_PI}" upper="${7/3 * M_PI}"/> | ||
| <calibration rising="0.0"/> | ||
| </joint> | ||
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| <link name="${name}_pan_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_round_holder.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_round_holder.stl" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_tool_joint" type="fixed" > | ||
| <origin xyz="0 0 0.095" rpy="0 0 0"/> | ||
| <parent link="${name}_pan_link" /> | ||
| <child link="${name}_tool_link" /> | ||
| </joint> | ||
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| <link name="${name}_tool_link"> | ||
| <xacro:default_inertial/> | ||
| </link> | ||
| </xacro:unless> | ||
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| <xacro:if value="${is_upsidedown}"> | ||
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| <joint name="${name}_joint" type="fixed" > | ||
| <xacro:insert_block name="origin" /> | ||
| <parent link="${parent}" /> | ||
| <child link="${name}_link" /> | ||
| </joint> | ||
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| <link name="${name}_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0.095" rpy="${M_PI} 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_round_holder.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_round_holder.stl" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_pan_joint" type="revolute" > | ||
| <origin xyz="0 0 0.095" rpy="0 0 0"/> | ||
| <parent link="${name}_link" /> | ||
| <child link="${name}_pan_link" /> | ||
| <axis xyz="0 0 -1" /> | ||
| <limit effort="200" velocity="${2 * M_PI}" lower="${-7/3 * M_PI}" upper="${7/3 * M_PI}"/> | ||
| <calibration rising="0.0"/> | ||
| </joint> | ||
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| <link name="${name}_pan_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="${M_PI} 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_body.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_body.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_tilt_joint" type="revolute" > | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <parent link="${name}_pan_link" /> | ||
| <child link="${name}_tilt_link" /> | ||
| <axis xyz="-1 0 0" /> | ||
| <limit effort="12.0" velocity="4.1" lower="${-4/6 * M_PI}" upper="${4/6 * M_PI}"/> | ||
| <calibration rising="0.0"/> | ||
| </joint> | ||
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| <link name="${name}_tilt_link"> | ||
| <xacro:default_inertial/> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="${M_PI} 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${name}_tool_joint" type="fixed" > | ||
| <origin xyz="0 0 0.07" rpy="0 0 0"/> | ||
| <parent link="${name}_tilt_link" /> | ||
| <child link="${name}_tool_link" /> | ||
| </joint> | ||
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| <link name="${name}_tool_link"> | ||
| <xacro:default_inertial/> | ||
| </link> | ||
| </xacro:if> | ||
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| <!-- extensions --> | ||
| <xacro:schunk_pw70_gazebo name="${name}" /> | ||
| <xacro:schunk_pw70_transmission name="${name}" /> | ||
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| </xacro:macro> | ||
| </robot> | ||
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