cccccccc
/
stretch_ros
mirror of https://github.com/hello-robot/stretch_ros.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
Browse Source

a URDF with the gripper puller can now be generated

pull/2/head
Charlie Kemp 4 years ago
parent
6262fe2e72
commit
92871a58c5
4 changed files with 361 additions and 1 deletions
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. +1
    -1
      stretch_calibration/README.md
  2. BIN
     
  3. +1
    -0
      stretch_description/urdf/stretch_description.xacro
  4. +359
    -0
      stretch_description/urdf/stretch_gripper_with_puller.xacro

+ 1
- 1
stretch_calibration/README.md View File

@ -77,7 +77,7 @@ In addition, after changing a tool, this code can be used to generate a new cali
## Generate a New URDF After Changing the Tool ## Generate a New URDF After Changing the Tool
If you change the Stretch RE1's tool attached to the wrist and want to generate a new URDF for it, you can do with xacro files in the /stretch_ros/stretch_description/urdf/ directory. Specifically, you can edit stretch_description.xacro to include a xacro other than the default stretch_gripper.xacro.
If you change the Stretch RE1's tool attached to the wrist and want to generate a new URDF for it, you can do so with xacro files in the /stretch_ros/stretch_description/urdf/ directory. Specifically, you can edit stretch_description.xacro to include a xacro other than the default stretch_gripper.xacro.
After changing the tool xacro you will need to generate a new URDF and also update this new URDF with the previously optimized calibration parameters. To do so, follow the directions below: After changing the tool xacro you will need to generate a new URDF and also update this new URDF with the previously optimized calibration parameters. To do so, follow the directions below:

BIN
View File


+ 1
- 0
stretch_description/urdf/stretch_description.xacro View File

@ -2,6 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:include filename="stretch_gripper.xacro" /> <xacro:include filename="stretch_gripper.xacro" />
<!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
<xacro:include filename="stretch_main.xacro" /> <xacro:include filename="stretch_main.xacro" />
<xacro:include filename="stretch_aruco.xacro" /> <xacro:include filename="stretch_aruco.xacro" />

+ 359
- 0
stretch_description/urdf/stretch_gripper_with_puller.xacro View File

@ -0,0 +1,359 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_gripper">
<inertial>
<origin
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
rpy="0 0 0" />
<mass
value="0.101902711393094" />
<inertia
ixx="2.79241618017607E-05"
ixy="-1.10819247449605E-05"
ixz="-1.50343284036654E-05"
iyy="3.67945130513069E-05"
iyz="-4.33280448535579E-06"
izz="4.14524691955231E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper.STL" />
</geometry>
</collision>
</link>
<!-- rpy="3.1416 0 1.5708" -->
<!-- rpy="0.0 0 1.5708" -->
<joint
name="joint_gripper"
type="fixed">
<origin
xyz="0 0 0"
rpy="3.14159 0 -1.5708" />
<parent
link="link_wrist_yaw" />
<child
link="link_gripper" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_puller">
<inertial>
<origin
xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
rpy="0 0 0" />
<mass
value="0.00292784355893436" />
<inertia
ixx="1.09317111513898E-07"
ixy="-9.31929125413026E-13"
ixz="-3.36065188387015E-16"
iyy="1.10835075609816E-15"
iyz="1.43669784789342E-12"
izz="1.09317110675672E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_puller.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_puller.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_puller"
type="fixed">
<origin
xyz="0 0.07265 -0.0335"
rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
<parent
link="link_gripper" />
<child
link="link_puller" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
rpy="0 0 0" />
<mass
value="0.0476207785199474" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_left"
type="revolute">
<origin
xyz="-0.047231 -0.010151 -0.04679"
rpy="2.1762E-15 0.5236 3.1416" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_left" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_left">
<inertial>
<origin
xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
rpy="0 0 0" />
<mass
value="0.00382159917455729" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_left"
type="fixed">
<origin
xyz="${scale_finger_length * 0.19011} 0.014912 0"
rpy="-1.5708 -4.774E-15 -2.5545" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.0945047483510099 -0.0124301080924345 0"
rpy="0 0 0" />
<mass
value="0.0476207785199481" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.047231 0.010049 -0.04679"
rpy="3.1416 -0.5236 1.2943E-15" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
rpy="0 0 0" />
<mass
value="0.00382160037319545" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="${scale_finger_length * -0.19011} -0.014912 0"
rpy="-1.5708 -2.0539E-15 0.58705" />
<parent
link="link_gripper_finger_right" />
<child
link="link_gripper_fingertip_right" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_grasp_center">
</link>
<joint
name="joint_grasp_center"
type="fixed">
<origin
xyz="-0.205478 0 -0.138154"
rpy="0 0 3.141579" />
<parent
link="link_gripper" />
<child
link="link_grasp_center" />
</joint>
</robot>

Write Preview
Loading…
Cancel
Save