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hand表記をgripperへ変更 #8

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merged 4 commits into from
Nov 6, 2023
Merged

hand表記をgripperへ変更 #8

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7ef372d
hand表記をgripperへ変更
Kuwamai Nov 6, 2023
6deff4a
property名修正
Kuwamai Nov 6, 2023
e5c2bb7
設定順序修正
Kuwamai Nov 6, 2023
5a5a240
hand表記をgripperへ変更
Kuwamai Nov 6, 2023
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24 changes: 16 additions & 8 deletions launch/display.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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:
Expand Down
0 meshes/collision/L_HandA.stl → meshes/collision/L_GripperA.stl
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0 meshes/collision/L_HandB.stl → meshes/collision/L_GripperB.stl
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File renamed without changes.
0 meshes/collision/R_HandA.stl → meshes/collision/R_GripperA.stl
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File renamed without changes.
0 meshes/collision/R_HandB.stl → meshes/collision/R_GripperB.stl
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0 meshes/visual/L_HandA.stl → meshes/visual/L_GripperA.stl
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0 meshes/visual/L_HandB.stl → meshes/visual/L_GripperB.stl
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0 meshes/visual/R_HandA.stl → meshes/visual/R_GripperA.stl
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0 meshes/visual/R_HandB.stl → meshes/visual/R_GripperB.stl
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24 changes: 12 additions & 12 deletions urdf/sciurus17.gazebo_ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand All @@ -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"/>
Expand Down Expand Up @@ -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>
Expand All @@ -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"/>
Expand Down
16 changes: 8 additions & 8 deletions urdf/sciurus17.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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"/>
Expand Down Expand Up @@ -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"/>
Expand Down
40 changes: 20 additions & 20 deletions urdf/sciurus17.urdf.xacro
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Expand Up @@ -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"/>

Expand Down Expand Up @@ -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"/>
Expand All @@ -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"/>
Expand All @@ -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"/>
Expand All @@ -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)}"/>
Expand All @@ -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)}"/>
Expand All @@ -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' -->
Expand All @@ -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)">

Expand Down
4 changes: 2 additions & 2 deletions urdf/sciurus17_body.xacro
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Expand Up @@ -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"/>
Expand Down
8 changes: 4 additions & 4 deletions urdf/sciurus17_gazebo.xacro
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Expand Up @@ -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/>
Expand Down Expand Up @@ -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/>
Expand Down
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