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Pw70 description #167

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merged 3 commits into from
Sep 13, 2016
Merged

Pw70 description #167

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26c866a
Initial description
andreeatulbure Mar 30, 2016
a5a4b15
pw70 working
andreeatulbure Apr 15, 2016
b7a7c1a
Enabled collison
destogl Sep 7, 2016
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Binary file added schunk_description/meshes/pw70/pw70_body.stl
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Binary file added schunk_description/meshes/pw70/pw70_round_holder.stl
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Binary file added schunk_description/meshes/pw70/pw70_square_holder.stl
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18 changes: 18 additions & 0 deletions schunk_description/urdf/pw70/pw70.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="schunk_pw70_gazebo" params="name">

<gazebo reference="${name}_pan_link">
<gravity>true</gravity>
<self_collide>false</self_collide>
</gazebo>

<gazebo reference="${name}_tilt_link">
<gravity>true</gravity>
<self_collide>false</self_collide>
</gazebo>

</xacro:macro>

</robot>
34 changes: 34 additions & 0 deletions schunk_description/urdf/pw70/pw70.transmission.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="schunk_pg70_transmission" params="name">

<!-- 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>

<!-- 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>

</xacro:macro>

</robot>
180 changes: 180 additions & 0 deletions schunk_description/urdf/pw70/pw70.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find schunk_description)/urdf/pw70/pw70.gazebo.xacro" />
<xacro:include filename="$(find schunk_description)/urdf/pw70/pw70.transmission.xacro" />

<xacro:macro name="schunk_pw70" params="parent name *origin is_upsidedown">

<xacro:unless value="${is_upsidedown}">

<joint name="${name}_joint" type="fixed" >
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_link" />
</joint>

<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>
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why is the collision model commented out?

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We left it commented out since it is not well tested. We use the same description as for the visualisation and I am not sure that is the right thing. In this way there is a place holder when someone will work with collisions.

<geometry>
<mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" />
</geometry>
</collision> -->
</link>

<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>

<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>

<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>

<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>

<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>

<link name="${name}_tool_link">
<xacro:default_inertial/>
</link>
</xacro:unless>

<xacro:if value="${is_upsidedown}">

<joint name="${name}_joint" type="fixed" >
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_link" />
</joint>

<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>

<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>

<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>

<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>

<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>

<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>

<link name="${name}_tool_link">
<xacro:default_inertial/>
</link>
</xacro:if>

<!-- extensions -->
<xacro:schunk_pw70_gazebo name="${name}" />
<xacro:schunk_pw70_transmission name="${name}" />


</xacro:macro>
</robot>