forked from pz4kybsvg/Conception
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232 lines
8.1 KiB
232 lines
8.1 KiB
<?xml version="1.0"?>
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<sdf xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.7">
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<model name="planar_gripper">
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<!-- Link mass and inertia values are guesses (currently), calculated using
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a uniform rod model, rotating about its center of mass. -->
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<xacro:property name="base_dim" value=".08"/>
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<xacro:property name="l1_length" value="0.085"/>
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<xacro:property name="l1_radius" value="0.011"/>
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<xacro:property name="l1_mass" value="0.1"/>
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<xacro:property name="l1_inertia" value="0.0083"/>
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<xacro:property name="l2_length" value="0.040"/>
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<xacro:property name="l2_radius" value="0.011"/>
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<xacro:property name="l2_mass" value="0.1"/>
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<xacro:property name="l2_inertia" value="0.0083"/>
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<xacro:property name="sensor_length" value="0.005"/>
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<xacro:property name="sensor_width" value="0.02"/>
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<xacro:property name="tip_adapter_length" value="0.0113"/>
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<xacro:property name="tip_adapter_radius" value="0.0145"/>
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<xacro:property name="tip_cylinder_length" value="0.0035"/>
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<xacro:property name="tip_cylinder_radius" value="0.01"/>
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<xacro:property name="tip_sphere_radius" value="0.015"/>
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<xacro:macro name="finger" params="fnum">
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<link name="finger${fnum}_base">
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<visual name="base_visual">
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<geometry>
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<box>
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<size>${base_dim} ${base_dim} ${base_dim/10}</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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</material>
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</visual>
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</link>
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<link name="finger${fnum}_link1">
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<inertial>
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<pose>0 0 -${l1_length/2} 0 0 0</pose>
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<mass>${l1_mass}</mass>
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<inertia>
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<ixx>${l1_inertia}</ixx>
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<iyy>${l1_inertia}</iyy>
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<izz>5e-7</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<visual name="link1_visual">
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<pose>0 0 -${l1_length/2} 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>${l1_length}</length>
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<radius>${l1_radius}</radius>
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</cylinder>
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</geometry>
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<material>
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<diffuse>1 0 0 1</diffuse>
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</material>
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</visual>
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<visual name="link1_joint_visual">
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<pose>0 0 -${l1_length} 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>${l1_radius*1.2}</radius>
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</sphere>
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</geometry>
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<material>
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<diffuse>.1 .1 .1 1</diffuse>
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</material>
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</visual>
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</link>
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<joint name="finger${fnum}_BaseJoint" type="revolute">
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<child>finger${fnum}_link1</child>
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<parent>finger${fnum}_base</parent>
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<axis>
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<xyz expressed_in="__model__">1 0 0</xyz>
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<limit>
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<!-- Drake parses a zero effort joint as an un-actuated joint. -->
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<effort>75</effort>
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<lower>-1.57</lower>
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<upper>1.57</upper>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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</axis>
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</joint>
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<link name="finger${fnum}_link2">
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<!-- The origin of the link2 frame is located at the MidJoint. -->
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<pose>0 0 -${l1_length} 0 0 0</pose>
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<inertial>
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<pose>0 0 -${(l2_length + sensor_length + tip_adapter_length + tip_cylinder_length)/2} 0 0 0</pose>
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<mass>${l2_mass}</mass>
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<inertia>
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<ixx>${l2_inertia}</ixx>
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<iyy>${l2_inertia}</iyy>
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<izz>5e-7</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<visual name="link2_visual">
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<pose>0 0 -${l2_length/2} 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>${l2_length}</length>
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<radius>${l2_radius}</radius>
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</cylinder>
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</geometry>
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<material>
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<diffuse>1 0 0 1</diffuse>
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</material>
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</visual>
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<!--The link 2 collision element extends up to (but not including) the
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sphere fingertip-->
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<collision name="link2_collision">
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<pose>0 0 -${(l2_length + sensor_length + tip_adapter_length + tip_cylinder_length)/2} 0 0 0</pose>
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<geometry>
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<box>
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<size> ${2 * l2_radius} ${2 * l2_radius} ${l2_length + sensor_length + tip_adapter_length + tip_cylinder_length} </size>
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</box>
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</geometry>
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<material>
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<diffuse>1 0 1 1</diffuse>
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</material>
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</collision>
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<visual name="sensor_visual">
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<pose>0 0 -${l2_length + sensor_length/2.0} 0 0 0</pose>
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<geometry>
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<box>
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<size>${sensor_width} ${sensor_width} ${sensor_length}</size>
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</box>
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</geometry>
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<material>
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<diffuse>.8 .8 .8 1</diffuse>
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</material>
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</visual>
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</link>
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<joint name="finger${fnum}_MidJoint" type="revolute">
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<parent>finger${fnum}_link1</parent>
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<child>finger${fnum}_link2</child>
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<!-- Pose X_CJ of the joint frame J in the frame C of the child link -->
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<axis>
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<xyz expressed_in="__model__">1 0 0</xyz>
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<limit>
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<effort>75</effort>
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<lower>-1.57</lower>
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<upper>1.57</upper>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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</axis>
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</joint>
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<!-- The tip link's mass/inertia values are already included in link 2,
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which welds to this link. Hence, the values here are set to be
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(effectively) zero. Note: This fingertip link and its corresponding
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weld joint allows us to sense forces via MBP's reaction forces
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output port. -->
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<link name="finger${fnum}_tip_link">
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<pose>0 0 -${l1_length + l2_length + sensor_length} 0 0 0</pose>
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<inertial>
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<pose>0 0 -${(tip_adapter_length + tip_cylinder_length)/2} 0 0 0</pose>
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<mass>1e-7</mass>
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<inertia>
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<ixx>1e-7</ixx>
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<iyy>1e-7</iyy>
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<izz>1e-7</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<visual name="tip_adapter_visual">
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<pose>0 0 -${tip_adapter_length/2} 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>${tip_adapter_length}</length>
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<radius>${tip_adapter_radius}</radius>
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</cylinder>
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</geometry>
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<material>
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<diffuse>.3 .3 .3 1</diffuse>
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</material>
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</visual>
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<visual name="tip_cylinder_visual">
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<pose>0 0 -${tip_adapter_length + tip_cylinder_length/2} 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>${tip_cylinder_length}</length>
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<radius>${tip_cylinder_radius}</radius>
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</cylinder>
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</geometry>
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<material>
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<diffuse>.3 .3 .3 1</diffuse>
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</material>
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</visual>
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<visual name="tip_sphere_visual">
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<pose>0 0 -${tip_adapter_length + tip_sphere_radius} 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>${tip_sphere_radius}</radius>
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</sphere>
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</geometry>
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<material>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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<collision name="tip_sphere_collision">
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<pose>0 0 -${tip_adapter_length + tip_sphere_radius} 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>${tip_sphere_radius}</radius>
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</sphere>
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</geometry>
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<material>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</collision>
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</link>
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<joint name="finger${fnum}_sensor_weldjoint" type="fixed">
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<parent>finger${fnum}_link2</parent>
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<child>finger${fnum}_tip_link</child>
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</joint>
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</xacro:macro>
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<xacro:finger fnum="1"/>
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<xacro:finger fnum="2"/>
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<xacro:finger fnum="3"/>
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</model>
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</sdf>
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