hand表記をgripperへ変更 (#8)

* hand表記をgripperへ変更 * property名修正 * 設定順序修正 * hand表記をgripperへ変更
rt-net · Nov 6, 2023 · 7e5d0a2 · 7e5d0a2
1 parent e83a2e4
commit 7e5d0a2
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Showing 16 changed files with 102 additions and 94 deletions.
diff --git a/launch/display.rviz b/launch/display.rviz
@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 555
+    Tree Height: 549
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -76,22 +76,30 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_link:
+        chest_camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        chest_camera_link:
+        dummy_mimic_fix_l:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        dummy_mimic_fix_r:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        l_handA_link:
+        l_gripperA_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        l_handB_link:
+        l_gripperB_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -146,12 +154,12 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        r_handA_link:
+        r_gripperA_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        r_handB_link:
+        r_gripperB_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -280,7 +288,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/meshes/collision/L_HandA.stl → meshes/collision/L_GripperA.stl b/meshes/collision/L_HandA.stl → meshes/collision/L_GripperA.stl
diff --git a/meshes/collision/L_HandB.stl → meshes/collision/L_GripperB.stl b/meshes/collision/L_HandB.stl → meshes/collision/L_GripperB.stl
diff --git a/meshes/collision/R_HandA.stl → meshes/collision/R_GripperA.stl b/meshes/collision/R_HandA.stl → meshes/collision/R_GripperA.stl
diff --git a/meshes/collision/R_HandB.stl → meshes/collision/R_GripperB.stl b/meshes/collision/R_HandB.stl → meshes/collision/R_GripperB.stl
diff --git a/meshes/visual/L_HandA.stl → meshes/visual/L_GripperA.stl b/meshes/visual/L_HandA.stl → meshes/visual/L_GripperA.stl
diff --git a/meshes/visual/L_HandB.stl → meshes/visual/L_GripperB.stl b/meshes/visual/L_HandB.stl → meshes/visual/L_GripperB.stl
diff --git a/meshes/visual/R_HandA.stl → meshes/visual/R_GripperA.stl b/meshes/visual/R_HandA.stl → meshes/visual/R_GripperA.stl
diff --git a/meshes/visual/R_HandB.stl → meshes/visual/R_GripperB.stl b/meshes/visual/R_HandB.stl → meshes/visual/R_GripperB.stl
diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -10,8 +10,8 @@
 
       <joint name="${NAME_JOINT_BODY}">
         <command_interface name="position">
-          <param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
-          <param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
+          <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -128,10 +128,10 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_A}">
+      <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -140,8 +140,8 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_B}">
-        <param name="mimic">${NAME_JOINT_HAND_R_A}</param>
+      <joint name="${NAME_JOINT_GRIPPER_R_B}">
+        <param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
         <param name="multiplier">1</param>
         <command_interface name="position"/>
         <state_interface name="position"/>
@@ -233,10 +233,10 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_A}">
+      <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -245,8 +245,8 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_B}">
-        <param name="mimic">${NAME_JOINT_HAND_L_A}</param>
+      <joint name="${NAME_JOINT_GRIPPER_L_B}">
+        <param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
         <param name="multiplier">1</param>
         <command_interface name="position"/>
         <state_interface name="position"/>

diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
@@ -14,8 +14,8 @@
 
       <joint name="${NAME_JOINT_BODY}">
         <command_interface name="position">
-          <param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
-          <param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
+          <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -122,10 +122,10 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_A}">
+      <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -210,10 +210,10 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_A}">
+      <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>

diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
@@ -11,9 +11,9 @@
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_body.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_head.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_arm.xacro"/>
-  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_hand.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_gripper.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_arm.xacro"/>
-  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_hand.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_gripper.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>
 
@@ -55,8 +55,8 @@
   <xacro:property name="NAME_LINK_ARM_R_5" value="r_link5"/>
   <xacro:property name="NAME_LINK_ARM_R_6" value="r_link6"/>
   <xacro:property name="NAME_LINK_ARM_R_7" value="r_link7"/>
-  <xacro:property name="NAME_LINK_HAND_R_A" value="r_handA_link"/>
-  <xacro:property name="NAME_LINK_HAND_R_B" value="r_handB_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_R_A" value="r_gripperA_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_R_B" value="r_gripperB_link"/>
   <xacro:property name="NAME_LINK_ARMARKER_R" value="r_link5_armarker"/>
 
   <xacro:property name="NAME_LINK_ARM_L_1" value="l_link1"/>
@@ -66,12 +66,12 @@
   <xacro:property name="NAME_LINK_ARM_L_5" value="l_link5"/>
   <xacro:property name="NAME_LINK_ARM_L_6" value="l_link6"/>
   <xacro:property name="NAME_LINK_ARM_L_7" value="l_link7"/>
-  <xacro:property name="NAME_LINK_HAND_L_A" value="l_handA_link"/>
-  <xacro:property name="NAME_LINK_HAND_L_B" value="l_handB_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_L_A" value="l_gripperA_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_L_B" value="l_gripperB_link"/>
   <xacro:property name="NAME_LINK_ARMARKER_L" value="l_link5_armarker"/>
 
-  <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
   <xacro:property name="NAME_JOINT_BASE" value="base_link_to_world_joint"/>
+  <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
 
   <xacro:property name="NAME_JOINT_NECK_1" value="neck_yaw_joint"/>
   <xacro:property name="NAME_JOINT_NECK_2" value="neck_pitch_joint"/>
@@ -86,8 +86,8 @@
   <xacro:property name="NAME_JOINT_ARM_R_5" value="r_arm_joint5"/>
   <xacro:property name="NAME_JOINT_ARM_R_6" value="r_arm_joint6"/>
   <xacro:property name="NAME_JOINT_ARM_R_7" value="r_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_HAND_R_A" value="r_hand_joint"/>
-  <xacro:property name="NAME_JOINT_HAND_R_B" value="r_hand_mimic_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_R_A" value="r_gripper_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_R_B" value="r_gripper_mimic_joint"/>
   <xacro:property name="NAME_JOINT_ARMARKER_R" value="r_arm_armarker"/>
 
   <xacro:property name="NAME_JOINT_ARM_L_1" value="l_arm_joint1"/>
@@ -97,15 +97,15 @@
   <xacro:property name="NAME_JOINT_ARM_L_5" value="l_arm_joint5"/>
   <xacro:property name="NAME_JOINT_ARM_L_6" value="l_arm_joint6"/>
   <xacro:property name="NAME_JOINT_ARM_L_7" value="l_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_HAND_L_A" value="l_hand_joint"/>
-  <xacro:property name="NAME_JOINT_HAND_L_B" value="l_hand_mimic_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_L_A" value="l_gripper_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_L_B" value="l_gripper_mimic_joint"/>
   <xacro:property name="NAME_JOINT_ARMARKER_L" value="l_arm_armarker"/>
 
   <xacro:property name="EFFORT_LIMIT" value="4.0"/>
   <xacro:property name="VELOCITY_LIMIT" value="5.969211435"/>
 
-  <xacro:property name="NAME_JOINT_BODY_LOWER_LIMIT" value="${radians(-110)}"/>
-  <xacro:property name="NAME_JOINT_BODY_UPPER_LIMIT" value="${radians(110)}"/>
+  <xacro:property name="JOINT_BODY_LOWER_LIMIT" value="${radians(-110)}"/>
+  <xacro:property name="JOINT_BODY_UPPER_LIMIT" value="${radians(110)}"/>
 
   <xacro:property name="JOINT_NECK_1_LOWER_LIMIT" value="${radians(-165)}"/>
   <xacro:property name="JOINT_NECK_1_UPPER_LIMIT" value="${radians(165)}"/>
@@ -130,8 +130,8 @@
   <xacro:property name="JOINT_ARM_R_7_UPPER_LIMIT" value="${radians(170)}"/>
   <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
   <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
-  <xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(-0.01)}"/>
-  <xacro:property name="JOINT_HAND_R_UPPER_LIMIT" value="${radians(86)}"/>
+  <xacro:property name="JOINT_GRIPPER_R_LOWER_LIMIT" value="${radians(-0.01)}"/>
+  <xacro:property name="JOINT_GRIPPER_R_UPPER_LIMIT" value="${radians(86)}"/>
 
   <xacro:property name="JOINT_ARM_L_1_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_1_UPPER_LIMIT" value="${radians(90)}"/>
@@ -149,16 +149,16 @@
   <xacro:property name="JOINT_ARM_L_6_UPPER_LIMIT" value="${radians(120)}"/>
   <xacro:property name="JOINT_ARM_L_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_L_7_UPPER_LIMIT" value="${radians(170)}"/>
-  <xacro:property name="JOINT_HAND_L_LOWER_LIMIT" value="${radians(-86)}"/>
+  <xacro:property name="JOINT_GRIPPER_L_LOWER_LIMIT" value="${radians(-86)}"/>
   <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
   <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
-  <xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0.01)}"/>
+  <xacro:property name="JOINT_GRIPPER_L_UPPER_LIMIT" value="${radians(0.01)}"/>
 
   <xacro:property name="COLOR_LINK_BASE" value="white"/>
   <xacro:property name="COLOR_LINK_BODY" value="white"/>
   <xacro:property name="COLOR_LINK_HEAD" value="white"/>
   <xacro:property name="COLOR_LINK_ARM" value="white"/>
-  <xacro:property name="COLOR_LINK_HAND" value="red"/>
+  <xacro:property name="COLOR_LINK_GRIPPER" value="red"/>
   <xacro:property name="COLOR_LINK_CAMERA" value="white"/>
 
   <!-- Used for fixing robot 'base_link'  to Gazebo 'world' -->
@@ -175,11 +175,11 @@
 
   <xacro:sciurus17_right_arm/>
 
-  <xacro:sciurus17_right_hand/>
+  <xacro:sciurus17_right_gripper/>
 
   <xacro:sciurus17_left_arm/>
 
-  <xacro:sciurus17_left_hand/>
+  <xacro:sciurus17_left_gripper/>
 
   <xacro:unless value="$(arg use_gazebo)">
 

diff --git a/urdf/sciurus17_body.xacro b/urdf/sciurus17_body.xacro
@@ -29,8 +29,8 @@
       <child link="${NAME_LINK_BODY}" />
       <origin xyz="0.0 0.0 0.1315" rpy="0 0 0"/>
       <limit 
-        lower="${NAME_JOINT_BODY_LOWER_LIMIT}" 
-        upper="${NAME_JOINT_BODY_UPPER_LIMIT}" 
+        lower="${JOINT_BODY_LOWER_LIMIT}" 
+        upper="${JOINT_BODY_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 1"/>

diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
@@ -88,13 +88,13 @@
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_R_A}">
+    <gazebo reference="${NAME_LINK_GRIPPER_R_A}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_R_B}">
+    <gazebo reference="${NAME_LINK_GRIPPER_R_B}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
@@ -128,13 +128,13 @@
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_L_A}">
+    <gazebo reference="${NAME_LINK_GRIPPER_L_A}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_L_B}">
+    <gazebo reference="${NAME_LINK_GRIPPER_L_B}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>