From a5a7ab6a7257d042c12d251f1ad2063b6834a589 Mon Sep 17 00:00:00 2001 From: Erdal Pekel Date: Sun, 3 Mar 2019 04:30:46 -0800 Subject: [PATCH 01/13] Panda in Gazebo + MoveIt! motion planning --- .../config/panda_gazebo_control.yaml | 40 +++++++ franka_description/robots/hand.xacro | 21 ++++ franka_description/robots/panda.gazebo.xacro | 94 +++++++++++++++ .../robots/panda.transmission.xacro | 112 ++++++++++++++++++ franka_description/robots/panda_arm.xacro | 112 +++++++++++++++++- .../robots/panda_arm_hand.urdf.xacro | 13 ++ 6 files changed, 391 insertions(+), 1 deletion(-) create mode 100644 franka_control/config/panda_gazebo_control.yaml create mode 100644 franka_description/robots/panda.gazebo.xacro create mode 100644 franka_description/robots/panda.transmission.xacro diff --git a/franka_control/config/panda_gazebo_control.yaml b/franka_control/config/panda_gazebo_control.yaml new file mode 100644 index 00000000..2039c945 --- /dev/null +++ b/franka_control/config/panda_gazebo_control.yaml @@ -0,0 +1,40 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +position_joint_trajectory_controller: + type: effort_controllers/JointTrajectoryController + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + + gains: + panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 } + panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 } + panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 } + panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 } + panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 } + panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 } + panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 } + + constraints: + goal_time: 2.0 + + state_publish_rate: 25 + +franka_gripper: + type: effort_controllers/JointTrajectoryController + joints: + - panda_finger_joint1 + - panda_finger_joint2 + + gains: + panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 } + panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 } + + state_publish_rate: 25 diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index 22e6a087..b89fc144 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -51,6 +51,13 @@ + + + + + + + @@ -58,6 +65,13 @@ + + + + + + + @@ -66,6 +80,13 @@ + + + + + + + diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro new file mode 100644 index 00000000..02822caa --- /dev/null +++ b/franka_description/robots/panda.gazebo.xacro @@ -0,0 +1,94 @@ + + + + + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + + diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro new file mode 100644 index 00000000..343bd7ad --- /dev/null +++ b/franka_description/robots/panda.transmission.xacro @@ -0,0 +1,112 @@ + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index b44b230a..55d2887f 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -10,6 +10,19 @@ + + + + + + + + + + + + + @@ -34,6 +47,14 @@ + + + + + + + + @@ -59,6 +80,14 @@ + + + + + + + + @@ -67,6 +96,10 @@ + + + + @@ -92,6 +125,14 @@ + + + + + + + + @@ -100,6 +141,10 @@ + + + + @@ -125,6 +170,14 @@ + + + + + + + + @@ -133,6 +186,10 @@ + + + + @@ -158,6 +215,14 @@ + + + + + + + + @@ -166,6 +231,10 @@ + + + + @@ -209,7 +278,13 @@ - + + + + + + + @@ -218,6 +293,10 @@ + + + + @@ -243,6 +322,14 @@ + + + + + + + + @@ -251,6 +338,10 @@ + + + + @@ -276,6 +367,14 @@ + + + + + + + + @@ -284,6 +383,10 @@ + + + + @@ -304,6 +407,13 @@ + + + + + + + diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro index b98feb65..c7407e9a 100644 --- a/franka_description/robots/panda_arm_hand.urdf.xacro +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -3,5 +3,18 @@ + + + + + + + + + + + + + From 941e3b5649e8a317d83fc9009b87c9ee4e83c01f Mon Sep 17 00:00:00 2001 From: Marco Esposito Date: Wed, 8 May 2019 14:15:04 +0200 Subject: [PATCH 02/13] Fix Gazebo simulation for panda_arm (without the gripper/hand) --- .../robots/panda.transmission.xacro | 44 ++++++++++--------- .../robots/panda_arm.urdf.xacro | 14 ++++++ .../robots/panda_arm_hand.urdf.xacro | 4 +- 3 files changed, 39 insertions(+), 23 deletions(-) diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro index 343bd7ad..9b8d7f1e 100644 --- a/franka_description/robots/panda.transmission.xacro +++ b/franka_description/robots/panda.transmission.xacro @@ -1,6 +1,6 @@ - + @@ -87,26 +87,28 @@ - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro index 31e7a2c9..8610da3e 100644 --- a/franka_description/robots/panda_arm.urdf.xacro +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -2,4 +2,18 @@ + + + + + + + + + + + + + + diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro index c7407e9a..8745c50f 100644 --- a/franka_description/robots/panda_arm_hand.urdf.xacro +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -6,7 +6,7 @@ - + @@ -15,6 +15,6 @@ - + From 6d84c120ca83211da2f47b54104a5b4f50b7a76b Mon Sep 17 00:00:00 2001 From: Erdal Pekel Date: Sun, 16 Jun 2019 21:13:57 +0200 Subject: [PATCH 03/13] Fixed gripper not moving in simulation --- franka_description/robots/hand.xacro | 1 - 1 file changed, 1 deletion(-) diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index b89fc144..9eda8b69 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -101,7 +101,6 @@ - From d6934b17a0366a6b0f5183059c03bd9215219632 Mon Sep 17 00:00:00 2001 From: Erdal Pekel Date: Sat, 29 Feb 2020 20:57:54 +0100 Subject: [PATCH 04/13] Migrate to Position based control in Gazebo. --- .../robots/panda.transmission.xacro | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro index 9b8d7f1e..f2931387 100644 --- a/franka_description/robots/panda.transmission.xacro +++ b/franka_description/robots/panda.transmission.xacro @@ -13,10 +13,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -24,10 +24,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -35,10 +35,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -46,10 +46,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -57,10 +57,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -68,10 +68,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -79,10 +79,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -91,10 +91,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 @@ -102,10 +102,10 @@ transmission_interface/SimpleTransmission - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface - hardware_interface/EffortJointInterface + hardware_interface/PositionJointInterface 1 From b034f5e3fdf04307573f893f07febb7df5692381 Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 6 Jun 2020 23:02:00 +0300 Subject: [PATCH 05/13] Update and improve usage --- franka_description/robots/panda.control.xacro | 31 +++++ franka_description/robots/panda.gazebo.xacro | 119 +++++------------- .../robots/panda.transmission.xacro | 114 ----------------- franka_description/robots/panda_arm.xacro | 32 ++--- .../robots/panda_arm_hand.urdf.xacro | 9 +- 5 files changed, 74 insertions(+), 231 deletions(-) create mode 100644 franka_description/robots/panda.control.xacro delete mode 100644 franka_description/robots/panda.transmission.xacro diff --git a/franka_description/robots/panda.control.xacro b/franka_description/robots/panda.control.xacro new file mode 100644 index 00000000..653cf831 --- /dev/null +++ b/franka_description/robots/panda.control.xacro @@ -0,0 +1,31 @@ + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + + + + + + + + + + + + + + + diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro index 02822caa..bc7fc180 100644 --- a/franka_description/robots/panda.gazebo.xacro +++ b/franka_description/robots/panda.gazebo.xacro @@ -1,94 +1,31 @@ - - + - - - - - - Gazebo/Grey - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/White - 0.2 - 0.2 - - - - - Gazebo/Grey - 0.2 - 0.2 - - - - - Gazebo/Grey - 0.2 - 0.2 - - - - - Gazebo/Grey - 0.2 - 0.2 - - - - - Gazebo/Grey - 0.2 - 0.2 - - - - - Gazebo/Grey - 0.2 - 0.2 - - + + + + Gazebo/White + 0.2 + 0.2 + + + + + Gazebo/Grey + 0.2 + 0.2 + + + + + + + + + + + + + + - - diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro deleted file mode 100644 index f2931387..00000000 --- a/franka_description/robots/panda.transmission.xacro +++ /dev/null @@ -1,114 +0,0 @@ - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index 55d2887f..e28b64ac 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -3,26 +3,15 @@ + - + + - - - - - - - - - - - - - @@ -98,7 +87,7 @@ - + @@ -143,7 +132,7 @@ - + @@ -188,7 +177,7 @@ - + @@ -233,7 +222,7 @@ - + @@ -295,7 +284,7 @@ - + @@ -340,7 +329,7 @@ - + @@ -385,7 +374,7 @@ - + @@ -422,3 +411,4 @@ + diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro index 8745c50f..7f96c0d6 100644 --- a/franka_description/robots/panda_arm_hand.urdf.xacro +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -6,15 +6,14 @@ - + - + - - - + + From 73ca815de522231cf6f171626e5ddbe6ed511c8b Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sun, 7 Jun 2020 00:39:00 +0300 Subject: [PATCH 06/13] Create macro for joints and links. --- franka_description/robots/panda_arm.xacro | 692 ++++++++++------------ 1 file changed, 298 insertions(+), 394 deletions(-) diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index e28b64ac..fd8c9eb5 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -9,406 +9,310 @@ + + - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + From d2b802d48b626ecfcb27a2dba026f81439be72b3 Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 23 Jan 2021 15:37:03 +0300 Subject: [PATCH 07/13] Add changes conforming to Gazebo tutorial. --- franka_description/robots/hand.xacro | 1 + franka_description/robots/panda_arm.urdf.xacro | 5 ++--- franka_description/robots/panda_arm.xacro | 2 -- franka_description/robots/panda_arm_hand.urdf.xacro | 5 ++--- 4 files changed, 5 insertions(+), 8 deletions(-) diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index 9eda8b69..b89fc144 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -101,6 +101,7 @@ + diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro index 8610da3e..8f3466ad 100644 --- a/franka_description/robots/panda_arm.urdf.xacro +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -1,14 +1,13 @@ - - + - + diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index fd8c9eb5..ca1fc0e0 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -3,7 +3,6 @@ - @@ -315,4 +314,3 @@ rpy="0 0 0" xyz="0 0 0.107"/> - diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro index 7f96c0d6..52e05ce1 100644 --- a/franka_description/robots/panda_arm_hand.urdf.xacro +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -2,14 +2,13 @@ - - - + + From 2cf12efebfb91f4b4f4868b366e25f6906dc4ccf Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 23 Jan 2021 16:32:32 +0300 Subject: [PATCH 08/13] Revert "deletese collision meshes." This reverts commit dfe405ed6d83d4448d6b9f5dca9719d26f1a0a71. --- franka_description/meshes/collision/finger.stl | Bin 0 -> 1684 bytes franka_description/meshes/collision/hand.stl | Bin 0 -> 10084 bytes franka_description/meshes/collision/link0.stl | Bin 0 -> 10084 bytes franka_description/meshes/collision/link1.stl | Bin 0 -> 15084 bytes franka_description/meshes/collision/link2.stl | Bin 0 -> 15084 bytes franka_description/meshes/collision/link3.stl | Bin 0 -> 15084 bytes franka_description/meshes/collision/link4.stl | Bin 0 -> 15084 bytes franka_description/meshes/collision/link5.stl | Bin 0 -> 15084 bytes franka_description/meshes/collision/link6.stl | Bin 0 -> 10084 bytes franka_description/meshes/collision/link7.stl | Bin 0 -> 10084 bytes 10 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 franka_description/meshes/collision/finger.stl create mode 100644 franka_description/meshes/collision/hand.stl create mode 100644 franka_description/meshes/collision/link0.stl 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zBH!>4g=d9z8zG4%i{x%64hWlnPf=q;VK%`2oRU9QFOpBR>=QEH`Kz&ehE|AH6xkX- zX6WLI74B=$MqFM)_cw9@g~kSOBV!hD52Kte2^tdhfPB=NmE`OmM&CKr2KOa;T4?+IAn&RW~KdSYctO5YdDrL zsvz*D&qD7?u literal 0 HcmV?d00001 From 38ac3f7187c6ef232d42ea1134d279faf457f27e Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 23 Jan 2021 17:30:44 +0300 Subject: [PATCH 09/13] Full split between hand and arm xacro files. --- franka_description/robots/hand.urdf.xacro | 11 +++- franka_description/robots/panda.control.xacro | 54 +++++++++---------- franka_description/robots/panda.gazebo.xacro | 32 +++++------ .../robots/panda_arm.urdf.xacro | 8 +-- .../robots/panda_arm_hand.urdf.xacro | 17 +----- 5 files changed, 60 insertions(+), 62 deletions(-) diff --git a/franka_description/robots/hand.urdf.xacro b/franka_description/robots/hand.urdf.xacro index a50b18ce..91d62439 100644 --- a/franka_description/robots/hand.urdf.xacro +++ b/franka_description/robots/hand.urdf.xacro @@ -1,5 +1,14 @@ - + + + + + + + + + + diff --git a/franka_description/robots/panda.control.xacro b/franka_description/robots/panda.control.xacro index 653cf831..bf840f7a 100644 --- a/franka_description/robots/panda.control.xacro +++ b/franka_description/robots/panda.control.xacro @@ -1,31 +1,31 @@ - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - - - - + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + + + + + + + + + + + + + + diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro index bc7fc180..d3a70687 100644 --- a/franka_description/robots/panda.gazebo.xacro +++ b/franka_description/robots/panda.gazebo.xacro @@ -1,31 +1,33 @@ - - + + Gazebo/White 0.2 0.2 - + + + + + + + + + + + + Gazebo/Grey 0.2 0.2 - - - - - - - - - - - - + + + diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro index 8f3466ad..e8dcf2bc 100644 --- a/franka_description/robots/panda_arm.urdf.xacro +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -1,5 +1,6 @@ + @@ -7,12 +8,11 @@ - + - - - + + diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro index 52e05ce1..0dfc64f0 100644 --- a/franka_description/robots/panda_arm_hand.urdf.xacro +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -1,18 +1,5 @@ - - - - - - - - - - - - - - - + + From 292ffac2273b13357f7b072f3732e3f718665363 Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 23 Jan 2021 20:48:24 +0300 Subject: [PATCH 10/13] Parameterize collisions for whether to use cylinder or mesh model. --- franka_description/robots/hand.urdf.xacro | 5 +- franka_description/robots/hand.xacro | 101 ++-- .../robots/panda_arm.urdf.xacro | 7 +- franka_description/robots/panda_arm.xacro | 505 ++++++++++-------- 4 files changed, 346 insertions(+), 272 deletions(-) diff --git a/franka_description/robots/hand.urdf.xacro b/franka_description/robots/hand.urdf.xacro index 91d62439..146d2a03 100644 --- a/franka_description/robots/hand.urdf.xacro +++ b/franka_description/robots/hand.urdf.xacro @@ -1,11 +1,14 @@ + + - + diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index b89fc144..d79fbdd8 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -1,7 +1,8 @@ - + @@ -15,42 +16,51 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -65,6 +75,13 @@ + + + + + + + @@ -80,9 +97,17 @@ + + + + + + + + - + diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro index e8dcf2bc..d085bd8a 100644 --- a/franka_description/robots/panda_arm.urdf.xacro +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -1,14 +1,17 @@ + + - - + + diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index ca1fc0e0..2db45118 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -2,7 +2,8 @@ - + @@ -13,7 +14,8 @@ - + @@ -22,17 +24,18 @@ - + + + + + - - - - @@ -64,230 +67,270 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Date: Sat, 23 Jan 2021 21:16:45 +0300 Subject: [PATCH 11/13] If-guard Gazebo-specific stuff for to reduce parameter footprint in real usage. --- franka_description/robots/hand.urdf.xacro | 18 +++---- franka_description/robots/hand.xacro | 47 ++++++++++--------- franka_description/robots/panda.control.xacro | 3 -- .../robots/panda_arm.urdf.xacro | 21 +++++---- franka_description/robots/panda_arm.xacro | 21 +++++---- 5 files changed, 58 insertions(+), 52 deletions(-) diff --git a/franka_description/robots/hand.urdf.xacro b/franka_description/robots/hand.urdf.xacro index 146d2a03..ce58a2c6 100644 --- a/franka_description/robots/hand.urdf.xacro +++ b/franka_description/robots/hand.urdf.xacro @@ -1,17 +1,19 @@ + - - - - + + + + + - - - - + + + + diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index d79fbdd8..79a644cf 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -1,5 +1,6 @@ + @@ -61,13 +62,13 @@ - - - - - - - + + + + + + + @@ -82,13 +83,13 @@ - - - - - - - + + + + + + + @@ -105,13 +106,13 @@ - - - - - - - + + + + + + + @@ -126,7 +127,9 @@ - + + + diff --git a/franka_description/robots/panda.control.xacro b/franka_description/robots/panda.control.xacro index bf840f7a..b6088caf 100644 --- a/franka_description/robots/panda.control.xacro +++ b/franka_description/robots/panda.control.xacro @@ -25,7 +25,4 @@ - - - diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro index d085bd8a..37182247 100644 --- a/franka_description/robots/panda_arm.urdf.xacro +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -2,20 +2,23 @@ + - - - - + + + + - - - - - + + + + + + + diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index 2db45118..8903de2c 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -1,5 +1,6 @@ + - - - + + + - - - - + + + + + + + From 8e2a5bb26ddd352eb4d636405234e74be9ff2751 Mon Sep 17 00:00:00 2001 From: tahsinkose Date: Sat, 23 Jan 2021 22:56:07 +0300 Subject: [PATCH 12/13] Rename material macro. --- franka_description/robots/panda.gazebo.xacro | 28 ++++++++++---------- franka_description/robots/panda_arm.xacro | 2 +- 2 files changed, 15 insertions(+), 15 deletions(-) diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro index d3a70687..5849c288 100644 --- a/franka_description/robots/panda.gazebo.xacro +++ b/franka_description/robots/panda.gazebo.xacro @@ -1,33 +1,33 @@ - + Gazebo/White 0.2 0.2 - - - - - - - - - + + + + + + + + + - + Gazebo/Grey 0.2 0.2 - - - + + + diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index 8903de2c..ec171458 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -286,7 +286,7 @@ - + Date: Thu, 11 Mar 2021 23:04:01 +0300 Subject: [PATCH 13/13] Prepend virtual joint with {arm_id}. --- franka_description/robots/panda_arm.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro index ec171458..5cb35218 100644 --- a/franka_description/robots/panda_arm.xacro +++ b/franka_description/robots/panda_arm.xacro @@ -6,7 +6,7 @@ - +