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Merge pull request #2 from gstavrinos/master
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Fixed various problems with the robot, with the major one being the fingers' simulation bug.
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@michtesar
michtesar committed Jul 30, 2019
2 parents 905bc54 + f8d77b4 commit 2e7dfa5
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Showing 5 changed files with 123 additions and 124 deletions.
56 changes: 28 additions & 28 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -55,35 +55,35 @@
<plugin name="mimic_${side}Finger${num}1" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}1</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
<multiplier>1</multiplier>
<offset>0</offset>
</plugin>
<plugin name="mimic_${side}Finger${num}2" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}2</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
<multiplier>1</multiplier>
<offset>0</offset>
</plugin>
<plugin name="mimic_${side}Finger${num}3" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}3</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
<multiplier>1</multiplier>
<offset>0</offset>
</plugin>
</xacro:macro>
<!-- Thumbs -->
<xacro:macro name="ThumbMimics" params="side">
<plugin name="${side}Thumb1" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Thumb1</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
<multiplier>1</multiplier>
<offset>0</offset>
</plugin>
<plugin name="${side}Thumb2" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Thumb2</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
<multiplier>1</multiplier>
<offset>0</offset>
</plugin>
</xacro:macro>
<!-- GAZEBO ROS CONTROL -->
Expand All @@ -107,9 +107,9 @@

<xacro:ThumbMimics side="L"/>
<xacro:ThumbMimics side="R"/>

<!--
<xacro:DisabledLinks side="L" side_small="l"/>
<xacro:DisabledLinks side="R" side_small="r"/>
<xacro:DisabledLinks side="R" side_small="r"/> -->
</gazebo>
<!-- END OF GAZEBO ROS CONTROL PLUGIN -->
<!-- GAZEBO MATERIALS -->
Expand Down Expand Up @@ -183,7 +183,7 @@
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>

<gazebo reference="RShoulder">
Expand Down Expand Up @@ -220,7 +220,7 @@
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>

<gazebo reference="LFinger11_link">
Expand Down Expand Up @@ -361,86 +361,86 @@
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger12_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger13_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger21_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger22_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger23_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger31_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger32_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger33_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger41_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger42_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RFinger43_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>

<gazebo reference="RThumb1_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RThumb2_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
</gazebo>

<!--
Expand Down
12 changes: 6 additions & 6 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@
<link name="l_wrist">
<inertial>
<mass value="0.27555"/>
<inertia ixx="0.000151643" ixy="1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="-3.13715e-06" izz="0.000456172"/>
<inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
<origin rpy="0 0 0" xyz="0.03536 -0.00072 -0.00207"/>
</inertial>
<xacro:insert_visu_l_wrist/>
Expand All @@ -87,8 +87,8 @@
</joint>
<link name="l_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
<mass value="0.0016579"/>
<inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
</inertial>
</link>
<joint name="RShoulderPitch" type="revolute">
Expand Down Expand Up @@ -161,7 +161,7 @@
<link name="r_wrist">
<inertial>
<mass value="0.27555"/>
<inertia ixx="0.000151643" ixy="-1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="3.13715e-06" izz="0.000456172"/>
<inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
<origin rpy="0 0 0" xyz="0.03536 0.00072 -0.00207"/>
</inertial>
<xacro:insert_visu_r_wrist/>
Expand All @@ -175,8 +175,8 @@
</joint>
<link name="r_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
<mass value="0.0016579"/>
<inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
</inertial>
</link>
</robot>
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