From 01c6ab4dd8115c0938ad780f1fe354d754863f69 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Tue, 18 Aug 2020 17:55:15 +0200
Subject: [PATCH] first simulated grasping state
---
robots/panda.transmission.xacro | 8 ++++----
robots/panda_arm_hand.urdf.xacro | 18 ++++++++++++++++++
2 files changed, 22 insertions(+), 4 deletions(-)
diff --git a/robots/panda.transmission.xacro b/robots/panda.transmission.xacro
index f293138..df24afa 100644
--- a/robots/panda.transmission.xacro
+++ b/robots/panda.transmission.xacro
@@ -91,10 +91,10 @@
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -102,10 +102,10 @@
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/robots/panda_arm_hand.urdf.xacro b/robots/panda_arm_hand.urdf.xacro
index 65ac6b9..0ef8f63 100644
--- a/robots/panda_arm_hand.urdf.xacro
+++ b/robots/panda_arm_hand.urdf.xacro
@@ -16,4 +16,22 @@
<xacro:panda_gazebo robot_name="$(arg robot_name)" />
<xacro:panda_transmission robot_name="$(arg robot_name)" load_hand="true" />
<!-- end for simulation -->
+
+<gazebo>
+ <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+ <arm>
+ <arm_name>panda_arm</arm_name>
+ <palm_link> panda_link7 </palm_link>
+ <gripper_link> panda_rightfinger </gripper_link>
+ <gripper_link> panda_leftfinger </gripper_link>
+ </arm>
+ <forces_angle_tolerance>100</forces_angle_tolerance>
+ <update_rate>4</update_rate>
+ <grip_count_threshold>4</grip_count_threshold>
+ <max_grip_count>8</max_grip_count>
+ <release_tolerance>0.005</release_tolerance>
+ <disable_collisions_on_attach>false</disable_collisions_on_attach>
+ <contact_topic>__default_topic__</contact_topic>
+ </plugin>
+ </gazebo>
</robot>
--
GitLab