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Adding the ikfast plugin for j2s6s300 arm and change the orientation …
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…of the end effector to match the real orientation
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@samuelhovington
samuelhovington committed Oct 18, 2018
1 parent bd846d1 commit 60fbe1c
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Showing 42 changed files with 1,197 additions and 1,256 deletions.
110 changes: 55 additions & 55 deletions kinova_description/urdf/j2n4s300.xacro
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Expand Up @@ -28,61 +28,61 @@
fore_arm_mico 10,
hand 3 finger 55, hand_2finger 56, finger_proximal 57, finger_distal 58
-->
<property name="link_base_mesh" value="base" />
<property name="link_1_mesh" value="shoulder" />
<property name="link_2_mesh" value="arm" />
<property name="link_3_mesh" value="forearm" />
<property name="link_4_mesh" value="hand_3finger" />

<property name="link_base_mesh_no" value="0" />
<property name="link_1_mesh_no" value="1" />
<property name="link_2_mesh_no" value="2" />
<property name="link_3_mesh_no" value="3" />
<property name="link_4_mesh_no" value="55" />

<property name="joint_base" value="joint_base" />
<property name="joint_base_type" value="fixed" />
<property name="joint_base_axis_xyz" value="0 0 0" />
<property name="joint_base_origin_xyz" value="0 0 0" />
<property name="joint_base_origin_rpy" value="0 0 0" />

<property name="joint_1" value="joint_1" />
<property name="joint_1_type" value="continuous" />
<property name="joint_1_axis_xyz" value="0 0 1" />
<property name="joint_1_origin_xyz" value="0 0 0.15675" />
<property name="joint_1_origin_rpy" value="0 ${J_PI} 0" />
<property name="joint_1_lower_limit" value="${-2*J_PI}" />
<property name="joint_1_upper_limit" value="${2*J_PI}" />

<property name="joint_2" value="joint_2" />
<property name="joint_2_type" value="revolute" />
<property name="joint_2_axis_xyz" value="0 0 1" />
<property name="joint_2_origin_xyz" value="0 0.0016 -0.11875" />
<property name="joint_2_origin_rpy" value="${-J_PI/2} 0 ${J_PI}" />
<property name="joint_2_lower_limit" value="${47/180*J_PI}" />
<property name="joint_2_upper_limit" value="${313/180*J_PI}" />

<property name="joint_3" value="joint_3" />
<property name="joint_3_type" value="revolute" />
<property name="joint_3_axis_xyz" value="0 0 1" />
<property name="joint_3_origin_xyz" value="0 -0.410 0" />
<property name="joint_3_origin_rpy" value="0 ${J_PI} 0" />
<property name="joint_3_lower_limit" value="${19/180*J_PI}" />
<property name="joint_3_upper_limit" value="${341/180*J_PI}" />

<property name="joint_4" value="joint_4" />
<property name="joint_4_type" value="continuous" />
<property name="joint_4_axis_xyz" value="0 0 1" />
<property name="joint_4_origin_xyz" value="0 0.2073 -0.0114" />
<property name="joint_4_origin_rpy" value="${-J_PI/2} 0 ${J_PI}" />
<property name="joint_4_lower_limit" value="${-2*J_PI}" />
<property name="joint_4_upper_limit" value="${2*J_PI}" />

<property name="joint_end_effector" value="end_effector_offset" />
<property name="joint_end_effector_type" value="fixed" />
<property name="joint_end_effector_axis_xyz" value="0 0 0" />
<property name="joint_end_effector_origin_xyz" value="0 0 -0.1600" />
<property name="joint_end_effector_origin_rpy" value="${J_PI} 0 0" />
<xacro:property name="link_base_mesh" value="base" />
<xacro:property name="link_1_mesh" value="shoulder" />
<xacro:property name="link_2_mesh" value="arm" />
<xacro:property name="link_3_mesh" value="forearm" />
<xacro:property name="link_4_mesh" value="hand_3finger" />

<xacro:property name="link_base_mesh_no" value="0" />
<xacro:property name="link_1_mesh_no" value="1" />
<xacro:property name="link_2_mesh_no" value="2" />
<xacro:property name="link_3_mesh_no" value="3" />
<xacro:property name="link_4_mesh_no" value="55" />

<xacro:property name="joint_base" value="joint_base" />
<xacro:property name="joint_base_type" value="fixed" />
<xacro:property name="joint_base_axis_xyz" value="0 0 0" />
<xacro:property name="joint_base_origin_xyz" value="0 0 0" />
<xacro:property name="joint_base_origin_rpy" value="0 0 0" />

<xacro:property name="joint_1" value="joint_1" />
<xacro:property name="joint_1_type" value="continuous" />
<xacro:property name="joint_1_axis_xyz" value="0 0 1" />
<xacro:property name="joint_1_origin_xyz" value="0 0 0.15675" />
<xacro:property name="joint_1_origin_rpy" value="0 ${J_PI} 0" />
<xacro:property name="joint_1_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_1_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_2" value="joint_2" />
<xacro:property name="joint_2_type" value="revolute" />
<xacro:property name="joint_2_axis_xyz" value="0 0 1" />
<xacro:property name="joint_2_origin_xyz" value="0 0.0016 -0.11875" />
<xacro:property name="joint_2_origin_rpy" value="${-J_PI/2} 0 ${J_PI}" />
<xacro:property name="joint_2_lower_limit" value="${47/180*J_PI}" />
<xacro:property name="joint_2_upper_limit" value="${313/180*J_PI}" />

<xacro:property name="joint_3" value="joint_3" />
<xacro:property name="joint_3_type" value="revolute" />
<xacro:property name="joint_3_axis_xyz" value="0 0 1" />
<xacro:property name="joint_3_origin_xyz" value="0 -0.410 0" />
<xacro:property name="joint_3_origin_rpy" value="0 ${J_PI} 0" />
<xacro:property name="joint_3_lower_limit" value="${19/180*J_PI}" />
<xacro:property name="joint_3_upper_limit" value="${341/180*J_PI}" />

<xacro:property name="joint_4" value="joint_4" />
<xacro:property name="joint_4_type" value="continuous" />
<xacro:property name="joint_4_axis_xyz" value="0 0 1" />
<xacro:property name="joint_4_origin_xyz" value="0 0.2073 -0.0114" />
<xacro:property name="joint_4_origin_rpy" value="${-J_PI/2} 0 ${J_PI}" />
<xacro:property name="joint_4_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_4_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_end_effector" value="end_effector_offset" />
<xacro:property name="joint_end_effector_type" value="fixed" />
<xacro:property name="joint_end_effector_axis_xyz" value="0 0 0" />
<xacro:property name="joint_end_effector_origin_xyz" value="0 0 -0.1600" />
<xacro:property name="joint_end_effector_origin_rpy" value="${J_PI} 0 ${J_PI/2}" />



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2 changes: 1 addition & 1 deletion kinova_description/urdf/j2n4s300_standalone.xacro
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Expand Up @@ -45,7 +45,7 @@
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<property name="robot_root" value="root" />
<xacro:property name="robot_root" value="root" />

<xacro:j2n4s300 base_parent="${robot_root}"/>

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148 changes: 74 additions & 74 deletions kinova_description/urdf/j2n6s200.xacro
View file
Expand Up @@ -22,87 +22,87 @@
<!-- Import all Gazebo-customization elements -->
<xacro:include filename="$(find kinova_description)/urdf/kinova.gazebo" />

<property name="link_base_mesh" value="base" />
<property name="link_1_mesh" value="shoulder" />
<property name="link_2_mesh" value="arm" />
<property name="link_3_mesh" value="forearm" />
<property name="link_4_mesh" value="wrist" />
<property name="link_5_mesh" value="wrist" />
<property name="link_6_mesh" value="hand_2finger" />
<xacro:property name="link_base_mesh" value="base" />
<xacro:property name="link_1_mesh" value="shoulder" />
<xacro:property name="link_2_mesh" value="arm" />
<xacro:property name="link_3_mesh" value="forearm" />
<xacro:property name="link_4_mesh" value="wrist" />
<xacro:property name="link_5_mesh" value="wrist" />
<xacro:property name="link_6_mesh" value="hand_2finger" />

<!--Used for conditional arguments for setting inertial parameters
base 0, shoulder 1, arm 2, forearm 3, wrist 4, arm_mico 5,
arm_half1 (7dof) 6, arm_half2 (7dof) 7, wrist_spherical_1 8, wrist_spherical_2 9
fore_arm_mico 10,
hand 3 finger 55, hand_2finger 56, finger_proximal 57, finger_distal 58
-->
<property name="link_base_mesh_no" value="0" />
<property name="link_1_mesh_no" value="1" />
<property name="link_2_mesh_no" value="2" />
<property name="link_3_mesh_no" value="3" />
<property name="link_4_mesh_no" value="4" />
<property name="link_5_mesh_no" value="4" />
<property name="link_6_mesh_no" value="56" />

<property name="joint_base" value="joint_base" />
<property name="joint_base_type" value="fixed" />
<property name="joint_base_axis_xyz" value="0 0 0" />
<property name="joint_base_origin_xyz" value="0 0 0" />
<property name="joint_base_origin_rpy" value="0 0 0" />

<property name="joint_1" value="joint_1" />
<property name="joint_1_type" value="continuous" />
<property name="joint_1_axis_xyz" value="0 0 1" />
<property name="joint_1_origin_xyz" value="0 0 0.15675" />
<property name="joint_1_origin_rpy" value="0 ${J_PI} 0" />
<property name="joint_1_lower_limit" value="${-2*J_PI}" />
<property name="joint_1_upper_limit" value="${2*J_PI}" />

<property name="joint_2" value="joint_2" />
<property name="joint_2_type" value="revolute" />
<property name="joint_2_axis_xyz" value="0 0 1" />
<property name="joint_2_origin_xyz" value="0 0.0016 -0.11875" />
<property name="joint_2_origin_rpy" value="-${J_PI/2} 0 ${J_PI}" />
<property name="joint_2_lower_limit" value="${47/180*J_PI}" />
<property name="joint_2_upper_limit" value="${313/180*J_PI}" />

<property name="joint_3" value="joint_3" />
<property name="joint_3_type" value="revolute" />
<property name="joint_3_axis_xyz" value="0 0 1" />
<property name="joint_3_origin_xyz" value="0 -0.410 0" />
<property name="joint_3_origin_rpy" value="0 ${J_PI} 0" />
<property name="joint_3_lower_limit" value="${19/180*J_PI}" />
<property name="joint_3_upper_limit" value="${341/180*J_PI}" />

<property name="joint_4" value="joint_4" />
<property name="joint_4_type" value="continuous" />
<property name="joint_4_axis_xyz" value="0 0 1" />
<property name="joint_4_origin_xyz" value="0 0.2073 -0.0114" />
<property name="joint_4_origin_rpy" value="-${J_PI/2} 0 ${J_PI}" />
<property name="joint_4_lower_limit" value="${-2*J_PI}" />
<property name="joint_4_upper_limit" value="${2*J_PI}" />

<property name="joint_5" value="joint_5" />
<property name="joint_5_type" value="continuous" />
<property name="joint_5_axis_xyz" value="0 0 1" />
<property name="joint_5_origin_xyz" value="0 -0.03703 -0.06414" />
<property name="joint_5_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
<property name="joint_5_lower_limit" value="${-2*J_PI}" />
<property name="joint_5_upper_limit" value="${2*J_PI}" />

<property name="joint_6" value="joint_6" />
<property name="joint_6_type" value="continuous" />
<property name="joint_6_axis_xyz" value="0 0 1" />
<property name="joint_6_origin_xyz" value="0 -0.03703 -0.06414" />
<property name="joint_6_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
<property name="joint_6_lower_limit" value="${-2*J_PI}" />
<property name="joint_6_upper_limit" value="${2*J_PI}" />

<property name="joint_end_effector" value="end_effector_offset" />
<property name="joint_end_effector_type" value="fixed" />
<property name="joint_end_effector_axis_xyz" value="0 0 0" />
<property name="joint_end_effector_origin_xyz" value="0 0 -0.1600" />
<property name="joint_end_effector_origin_rpy" value="${J_PI} 0 0" />
<xacro:property name="link_base_mesh_no" value="0" />
<xacro:property name="link_1_mesh_no" value="1" />
<xacro:property name="link_2_mesh_no" value="2" />
<xacro:property name="link_3_mesh_no" value="3" />
<xacro:property name="link_4_mesh_no" value="4" />
<xacro:property name="link_5_mesh_no" value="4" />
<xacro:property name="link_6_mesh_no" value="56" />

<xacro:property name="joint_base" value="joint_base" />
<xacro:property name="joint_base_type" value="fixed" />
<xacro:property name="joint_base_axis_xyz" value="0 0 0" />
<xacro:property name="joint_base_origin_xyz" value="0 0 0" />
<xacro:property name="joint_base_origin_rpy" value="0 0 0" />

<xacro:property name="joint_1" value="joint_1" />
<xacro:property name="joint_1_type" value="continuous" />
<xacro:property name="joint_1_axis_xyz" value="0 0 1" />
<xacro:property name="joint_1_origin_xyz" value="0 0 0.15675" />
<xacro:property name="joint_1_origin_rpy" value="0 ${J_PI} 0" />
<xacro:property name="joint_1_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_1_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_2" value="joint_2" />
<xacro:property name="joint_2_type" value="revolute" />
<xacro:property name="joint_2_axis_xyz" value="0 0 1" />
<xacro:property name="joint_2_origin_xyz" value="0 0.0016 -0.11875" />
<xacro:property name="joint_2_origin_rpy" value="-${J_PI/2} 0 ${J_PI}" />
<xacro:property name="joint_2_lower_limit" value="${47/180*J_PI}" />
<xacro:property name="joint_2_upper_limit" value="${313/180*J_PI}" />

<xacro:property name="joint_3" value="joint_3" />
<xacro:property name="joint_3_type" value="revolute" />
<xacro:property name="joint_3_axis_xyz" value="0 0 1" />
<xacro:property name="joint_3_origin_xyz" value="0 -0.410 0" />
<xacro:property name="joint_3_origin_rpy" value="0 ${J_PI} 0" />
<xacro:property name="joint_3_lower_limit" value="${19/180*J_PI}" />
<xacro:property name="joint_3_upper_limit" value="${341/180*J_PI}" />

<xacro:property name="joint_4" value="joint_4" />
<xacro:property name="joint_4_type" value="continuous" />
<xacro:property name="joint_4_axis_xyz" value="0 0 1" />
<xacro:property name="joint_4_origin_xyz" value="0 0.2073 -0.0114" />
<xacro:property name="joint_4_origin_rpy" value="-${J_PI/2} 0 ${J_PI}" />
<xacro:property name="joint_4_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_4_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_5" value="joint_5" />
<xacro:property name="joint_5_type" value="continuous" />
<xacro:property name="joint_5_axis_xyz" value="0 0 1" />
<xacro:property name="joint_5_origin_xyz" value="0 -0.03703 -0.06414" />
<xacro:property name="joint_5_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
<xacro:property name="joint_5_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_5_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_6" value="joint_6" />
<xacro:property name="joint_6_type" value="continuous" />
<xacro:property name="joint_6_axis_xyz" value="0 0 1" />
<xacro:property name="joint_6_origin_xyz" value="0 -0.03703 -0.06414" />
<xacro:property name="joint_6_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
<xacro:property name="joint_6_lower_limit" value="${-2*J_PI}" />
<xacro:property name="joint_6_upper_limit" value="${2*J_PI}" />

<xacro:property name="joint_end_effector" value="end_effector_offset" />
<xacro:property name="joint_end_effector_type" value="fixed" />
<xacro:property name="joint_end_effector_axis_xyz" value="0 0 0" />
<xacro:property name="joint_end_effector_origin_xyz" value="0 0 -0.1600" />
<xacro:property name="joint_end_effector_origin_rpy" value="${J_PI} 0 ${J_PI/2}" />



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2 changes: 1 addition & 1 deletion kinova_description/urdf/j2n6s200_standalone.xacro
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Expand Up @@ -45,7 +45,7 @@
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<property name="robot_root" value="root" />
<xacro:property name="robot_root" value="root" />

<xacro:j2n6s200 base_parent="${robot_root}"/>

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