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Implement new gripper #47

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Implement new gripper #47

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e0dbdd4
Gripper: add new gripper mesh and sdf
MatteoTschesche Jan 13, 2022
cb7aa8b
Gripper: create gripper command messages
MatteoTschesche Jan 13, 2022
c358023
Gripper: implement gripper's moving and grabbing ability
MatteoTschesche Jan 13, 2022
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10 changes: 9 additions & 1 deletion cfg/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,15 @@ plugins:
topic-set-conveyor: "~/RobotinoSim/SetConveyor/"
topic-holds-puck: "~/RobotinoSim/GripperHasPuck/"
topic-joint: "/GripperJoints/Holding"
radius-grab-area: 0.1
topic-final: "~/RobotinoSim/GripperFinal/"
topic-pose: "~/RobotinoSim/GripperPose/"
topic-closed: "~/RobotinoSim/GripperClosed/"
radius-grab-area: 0.0055
gripper-tolerance: 0.002
gripper-velocity: 0.5
finger-tolerance: 0.001
finger-open-velocity: 1.0
finger-close-velocity: 0.5

light-control:
topic-instruct-machine: "~/LLSFRbSim/InstructMachine/"
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59 changes: 59 additions & 0 deletions models/carologistics/carologistics-gripper/meshes/back_finger.dae
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@@ -0,0 +1,59 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776</authoring_tool>
</contributor>
<created>2022-01-19T18:46:19</created>
<modified>2022-01-19T18:46:19</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_geometries>
<geometry id="Gripper_Base_001-mesh" name="Gripper_Base.001">
<mesh>
<source id="Gripper_Base_001-mesh-positions">
<float_array id="Gripper_Base_001-mesh-positions-array" count="84">-24.4157 180.509 119.0557 -20.9157 180.509 119.0557 -20.9157 171.509 49.0557 -24.4157 171.509 49.0557 -16.9157 162.509 -0.9442902 -24.4157 162.509 -0.9442902 -24.4157 189.509 -0.9442902 -16.9157 189.509 -0.9442902 -20.9157 180.0731 -0.9442902 -20.9157 171.9449 -0.9442902 -20.9157 180.509 49.0557 -24.4157 180.509 49.0557 -24.4157 171.509 119.0557 -20.9157 171.509 119.0557 -24.9157 189.009 -0.444294 -24.9157 163.009 -0.444294 -24.9157 163.009 48.55571 -24.9157 172.009 48.55571 -24.9157 180.009 48.55571 -24.9157 189.009 48.55571 -24.4157 189.509 49.0557 -16.9157 189.509 49.0557 -24.4157 162.509 49.0557 -16.9157 162.509 49.0557 -24.4157 171.9462 -0.9442902 -24.4157 180.0735 -0.9442902 -24.9157 180.0638 -0.444294 -24.9157 171.9747 -0.444294</float_array>
<technique_common>
<accessor source="#Gripper_Base_001-mesh-positions-array" count="28" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Gripper_Base_001-mesh-normals">
<float_array id="Gripper_Base_001-mesh-normals-array" count="84">0 0 1 -1 0 0 -0.7070954 0 0.7071182 -0.707107 -0.7071067 0 0 -1 0 0 1 0 -0.7071068 0.7071068 0 -0.7071036 0 -0.7071101 -0.7071041 0 -0.7071096 -0.7070972 0 0.7071164 0.920686 0.3902894 0.003402829 0.920686 -0.3902894 0.003402829 1 0 0 -0.9999749 0 0.007091999 -0.7071068 -0.7071068 0 0 0 -1 0 0 -1 0 0 -1 -0.7071042 0 -0.7071094 -0.707107 0.7071067 0 -0.7071053 0 -0.7071083 -0.7071042 0 -0.7071095 0.9138115 0.4061385 0 0.9138115 -0.4061385 0 -0.9999749 0 0.007091999 0 0 -1 0 0 -1 -0.7071035 0 -0.7071101</float_array>
<technique_common>
<accessor source="#Gripper_Base_001-mesh-normals-array" count="28" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Gripper_Base_001-mesh-vertices">
<input semantic="POSITION" source="#Gripper_Base_001-mesh-positions"/>
</vertices>
<triangles count="52">
<input semantic="VERTEX" source="#Gripper_Base_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Gripper_Base_001-mesh-normals" offset="1"/>
<p>1 0 12 0 13 0 27 1 16 1 17 1 27 1 18 1 26 1 19 1 26 1 18 1 16 2 3 2 17 2 2 0 22 0 23 0 22 3 15 3 5 3 23 4 5 4 4 4 6 5 21 5 7 5 20 6 14 6 19 6 15 7 24 7 5 7 25 8 14 8 6 8 19 9 11 9 20 9 20 0 10 0 21 0 2 10 4 10 9 10 7 11 10 11 8 11 2 4 12 4 3 4 13 12 10 12 1 12 2 12 8 12 10 12 11 5 1 5 10 5 12 13 18 13 17 13 18 6 0 6 11 6 3 14 12 14 17 14 5 15 9 15 4 15 8 16 24 16 25 16 6 17 8 17 25 17 25 18 27 18 26 18 1 0 0 0 12 0 27 1 15 1 16 1 27 1 17 1 18 1 19 1 14 1 26 1 16 9 22 9 3 9 2 0 3 0 22 0 22 14 16 14 15 14 23 4 22 4 5 4 6 5 20 5 21 5 20 19 6 19 14 19 15 20 27 20 24 20 25 21 26 21 14 21 19 2 18 2 11 2 20 0 11 0 10 0 2 22 23 22 4 22 7 23 21 23 10 23 2 4 13 4 12 4 13 12 2 12 10 12 2 12 9 12 8 12 11 5 0 5 1 5 12 24 0 24 18 24 5 25 24 25 9 25 8 26 9 26 24 26 6 15 7 15 8 15 25 27 24 27 27 27</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Back_Finger" name="Back_Finger" type="NODE">
<matrix sid="transform">1 0 0 22.89313 0 1 0 -175.8983 0 0 1 -79.05167 0 0 0 1</matrix>
<instance_geometry url="#Gripper_Base_001-mesh" name="Back_Finger"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
59 changes: 59 additions & 0 deletions models/carologistics/carologistics-gripper/meshes/finger.dae
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Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.90.1 commit date:2020-09-23, commit time:06:43, hash:3e85bb34d0d7</authoring_tool>
</contributor>
<created>2021-12-16T19:17:24</created>
<modified>2021-12-16T19:17:24</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_geometries>
<geometry id="Finger-mesh" name="Finger">
<mesh>
<source id="Finger-mesh-positions">
<float_array id="Finger-mesh-positions-array" count="24">-4.797152 -0.6911965 25.55571 -2.997149 -3.808891 25.55571 2.997083 3.8088 -79.44429 4.79707 0.6911087 -79.44429 -2.997149 -3.808891 -79.44429 -4.797152 -0.6911965 -79.44429 4.79707 0.6911087 25.55571 2.997083 3.8088 25.55571</float_array>
<technique_common>
<accessor source="#Finger-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Finger-mesh-normals">
<float_array id="Finger-mesh-normals-array" count="30">-1.8838e-6 0 -1 -0.4999994 0.8660258 0 0.5000004 -0.8660252 0 0 0 1 -0.8660254 -0.5000002 0 0.8660268 0.4999975 0 9.419e-7 0 -1 -0.4999994 0.8660258 0 0.5000004 -0.8660252 0 -0.8660253 -0.5000004 0</float_array>
<technique_common>
<accessor source="#Finger-mesh-normals-array" count="10" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Finger-mesh-vertices">
<input semantic="POSITION" source="#Finger-mesh-positions"/>
</vertices>
<triangles count="12">
<input semantic="VERTEX" source="#Finger-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Finger-mesh-normals" offset="1"/>
<p>3 0 5 0 2 0 5 1 7 1 2 1 6 2 4 2 3 2 0 3 6 3 7 3 5 4 1 4 0 4 7 5 3 5 2 5 3 6 4 6 5 6 5 7 0 7 7 7 6 8 1 8 4 8 0 3 1 3 6 3 5 9 4 9 1 9 7 5 6 5 3 5</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Finger" name="Finger" type="NODE">
<matrix sid="transform">0.5 -0.8660254 0 0 0.8660254 0.5 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Finger-mesh" name="Finger"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
59 changes: 59 additions & 0 deletions models/carologistics/carologistics-gripper/meshes/gripper_base.dae
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178 changes: 134 additions & 44 deletions models/carologistics/carologistics-gripper/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -2,79 +2,169 @@
<sdf version="1.4">
<model name="carologistics-gripper">
<static>false</static>
<link name="link">
<link name="gripper-hand">
<gravity>false</gravity>
<pose>0 0 0 0 0 0</pose>
<!-- Origin is where the puck should be gripped -->
<visual name="back-visual">
<pose>-0.15 0 0 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.005 0.15 0.1</size>
</box>
<mesh>
<uri>model://carologistics/carologistics-gripper/meshes/gripper_base.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://german_open_field/materials/scripts/</uri>
<uri>model://german_open_field/materials/textures/</uri>
<name>Logistics_League_Field/Image</name>
</script>
<ambient>0.0 0.0 0.0 0.4</ambient>
</material>
<cast_shadows>false</cast_shadows>
</visual>
<visual name="left-servo-visual">
<pose>-0.12 0.04 0 0 0 0</pose>
<inertial>
<mass>0.1</mass>
</inertial>
</link>

<link name="back-finger">
<gravity>false</gravity>
<pose>-0.0228 -0.0004 0.079 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.06 0.03 0.04</size>
</box>
<mesh>
<uri>model://carologistics/carologistics-gripper/meshes/back_finger.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<ambient>0.0 0.0 0.0 0.1</ambient>
<diffuse>0.0 0.0 0.0 0.11</diffuse>
</material>
<material>
<ambient>0.0 0.0 0.0 0.4</ambient>
</material>
<cast_shadows>false</cast_shadows>
</visual>
<visual name="right-servo-visual">
<pose>-0.12 -0.04 0 0 0 0</pose>
<inertial>
<mass>0.02</mass>
</inertial>
<collision name="collision-left">
<pose>0.00207 0.01 -0.0506 0 0 -0.4</pose>
<geometry>
<box>
<size>0.06 0.03 0.04</size>
<size>0.00425 0.0095 0.06</size>
</box>
</geometry>
<material>
<ambient>0.0 0.0 0.0 0.1</ambient>
<diffuse>0.0 0.0 0.0 0.11</diffuse>
</material>
<cast_shadows>false</cast_shadows>
</visual>
<visual name="left-finger-visual">
<pose>-0.04 -0.04 0 0 0 0</pose>
</collision>
<collision name="collision-middle">
<pose>-0.00007 0.0002 -0.0506 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.01 0.02</size>
<size>0.00425 0.0083 0.06</size>
</box>
</geometry>
<material>
<ambient>0.7 0.6 0.0 0.8</ambient>
<diffuse>0.7 0.6 0.0 0.8</diffuse>
</material>
</collision>
<collision name="collision-right">
<pose>0.00207 -0.0096 -0.0506 0 0 0.4</pose>
<geometry>
<box>
<size>0.00425 0.0095 0.06</size>
</box>
</geometry>
</collision>
</link>
<joint name="back-finger-hinge" type="revolute">
<pose>0 0 0 0 0 0</pose>
<parent>gripper-hand</parent>
<child>back-finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>0.349066</upper>
<effort>30</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>

<link name="left-finger">
<gravity>false</gravity>
<pose>0.0102 0.0192 0.078 0 0 1.04719</pose>
<visual name="visual">
<geometry>
<mesh>
<uri>model://carologistics/carologistics-gripper/meshes/finger.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<ambient>0.0 0.0 0.0 0.4</ambient>
</material>
<cast_shadows>false</cast_shadows>
</visual>
<visual name="right-finger-visual">
<pose>-0.04 0.04 0 0 0 0</pose>
<inertial>
<mass>0.02</mass>
</inertial>
<collision name="collision">
<pose>0 0 -0.0496 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.01 0.02</size>
<size>0.004 0.0092 0.06</size>
</box>
</geometry>
<material>
<ambient>0.7 0.6 0.0 0.8</ambient>
<diffuse>0.7 0.6 0.0 0.8</diffuse>
</material>
</collision>
</link>
<joint name="left-finger-hinge" type="revolute">
<pose>0 0 0 0 0 1.04719</pose>
<parent>gripper-hand</parent>
<child>left-finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>0.2618</upper>
<effort>30</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>

<link name="right-finger">
<gravity>false</gravity>
<pose>0.0102 -0.0192 0.078 0 0 -1.04719</pose>
<visual name="visual">
<geometry>
<mesh>
<uri>model://carologistics/carologistics-gripper/meshes/finger.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<ambient>0.0 0.0 0.0 0.4</ambient>
</material>
<cast_shadows>false</cast_shadows>
</visual>
<inertial>
<mass>0.02</mass>
</inertial>
<collision name="collision">
<pose>0 0 -0.0496 0 0 0</pose>
<geometry>
<box>
<size>0.004 0.0092 0.06</size>
</box>
</geometry>
</collision>
</link>

<joint type="revolute" name="right-finger-hinge">
<pose>0 0 0 0 0 0</pose>
<parent>gripper-hand</parent>
<child>right-finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>0.2618</upper>
<effort>30</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>

<plugin name="Gripper" filename="libgripper.so"/>
</model>
</sdf>
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