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Added Schunk PG70 gripper, with two different contacts files #147
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- d0: pg70_finger1_joint, min=-0.001, max=0.04 --> | ||
| <!-- d1: pg70_finger2_joint, min=-0.001, max=0.04 --> | ||
| <EigenGrasps dimensions="2"> | ||
| <EG> | ||
| <EigenValue value="0.5"/> <!--EigenValue is not used in the code at this stage --> | ||
| <!--Limits min="0" max="0"/--> | ||
| <DimVals d0="0.0195" d1="0.0195"/> | ||
| </EG> | ||
| <ORIGIN> | ||
| <EigenValue value="0.5"/> | ||
| <DimVals d0="19.5" d1="19.5"/> | ||
| </ORIGIN> | ||
| </EigenGrasps> | ||
52,409 changes: 52,409 additions & 0 deletions
52,409
models/robots/schunk_pg70/iv/pg70_base_link.iv
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| <?xml version="1.0" ?> | ||
| <root> | ||
| <material>plastic</material> | ||
| <mass>2000</mass> | ||
| <cog>0.019 -0.347 28.892</cog> | ||
| <inertia_matrix>0.002 0 0 0 0.001 0 0 0 0.002</inertia_matrix> | ||
| <geometryFile>pg70_base_link.iv</geometryFile> | ||
| </root> |
1,808 changes: 1,808 additions & 0 deletions
1,808
models/robots/schunk_pg70/iv/pg70_finger1_link.iv
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| <?xml version="1.0" ?> | ||
| <root> | ||
| <material>plastic</material> | ||
| <mass>1</mass> | ||
| <cog>0 0 0 </cog> | ||
| <inertia_matrix>1 0 0 0 1 0 0 0 1</inertia_matrix> | ||
| <geometryFile>pg70_finger1_link.iv</geometryFile> | ||
| </root> |
1,808 changes: 1,808 additions & 0 deletions
1,808
models/robots/schunk_pg70/iv/pg70_finger2_link.iv
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| <?xml version="1.0" ?> | ||
| <root> | ||
| <material>plastic</material> | ||
| <mass>1</mass> | ||
| <cog>0 0 0 </cog> | ||
| <inertia_matrix>1 0 0 0 1 0 0 0 1</inertia_matrix> | ||
| <geometryFile>pg70_finger2_link.iv</geometryFile> | ||
| </root> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot type="Hand"> | ||
| <palm>pg70_base_link.xml</palm> | ||
| <dof type='r'> | ||
| <defaultVelocity>2</defaultVelocity> | ||
| <maxEffort>100</maxEffort> | ||
| <Kp>1e+09</Kp> | ||
| <Kd>1e+07</Kd> | ||
| <draggerScale>20</draggerScale> | ||
| </dof> | ||
|
|
||
| <dof type='r'> | ||
| <defaultVelocity>2</defaultVelocity> | ||
| <maxEffort>100</maxEffort> | ||
| <Kp>1e+09</Kp> | ||
| <Kd>1e+07</Kd> | ||
| <draggerScale>20</draggerScale> | ||
| </dof> | ||
|
|
||
| <chain> | ||
| <transform> | ||
| <translation>0 47.5 40</translation> | ||
| <rotationMatrix>1 0 0 0 -1 0 0 0 -1 </rotationMatrix> | ||
| </transform> | ||
| <joint type='Prismatic'> | ||
| <theta>0</theta> | ||
| <d> d0+0</d> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| <minValue>-1</minValue> | ||
| <maxValue>40</maxValue> | ||
| <viscousFriction>5.0e+7</viscousFriction> | ||
| </joint> | ||
| <link dynamicJointType='Prismatic'>pg70_finger1_link.xml</link> | ||
| </chain> | ||
| <chain> | ||
| <transform> | ||
| <translation>0 47.5 -40</translation> | ||
| <rotationMatrix>1 0 0 0 1 0 0 0 1 </rotationMatrix> | ||
| </transform> | ||
| <joint type='Prismatic'> | ||
| <theta>0</theta> | ||
| <d> d1+0</d> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| <minValue>-1</minValue> | ||
| <maxValue>40</maxValue> | ||
| <viscousFriction>5.0e+7</viscousFriction> | ||
| </joint> | ||
| <link dynamicJointType='Prismatic'>pg70_finger2_link.xml</link> | ||
| </chain> | ||
| <eigenGrasps>eigen/eigen.xml</eigenGrasps> | ||
| <virtualContacts>virtual/contacts.xml</virtualContacts> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot type="Hand"> | ||
| <palm>pg70_base_link.xml</palm> | ||
| <dof type='r'> | ||
| <defaultVelocity>2</defaultVelocity> | ||
| <maxEffort>100</maxEffort> | ||
| <Kp>1e+09</Kp> | ||
| <Kd>1e+07</Kd> | ||
| <draggerScale>20</draggerScale> | ||
| </dof> | ||
|
|
||
| <dof type='r'> | ||
| <defaultVelocity>2</defaultVelocity> | ||
| <maxEffort>100</maxEffort> | ||
| <Kp>1e+09</Kp> | ||
| <Kd>1e+07</Kd> | ||
| <draggerScale>20</draggerScale> | ||
| </dof> | ||
|
|
||
| <chain> | ||
| <transform> | ||
| <translation>0 47.5 40</translation> | ||
| <rotationMatrix>1 0 0 0 -1 0 0 0 -1 </rotationMatrix> | ||
| </transform> | ||
| <joint type='Prismatic'> | ||
| <theta>0</theta> | ||
| <d> d0+0</d> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| <minValue>-1</minValue> | ||
| <maxValue>40</maxValue> | ||
| <viscousFriction>5.0e+7</viscousFriction> | ||
| </joint> | ||
| <link dynamicJointType='Prismatic'>pg70_finger1_link.xml</link> | ||
| </chain> | ||
| <chain> | ||
| <transform> | ||
| <translation>0 47.5 -40</translation> | ||
| <rotationMatrix>1 0 0 0 1 0 0 0 1 </rotationMatrix> | ||
| </transform> | ||
| <joint type='Prismatic'> | ||
| <theta>0</theta> | ||
| <d> d1+0</d> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| <minValue>-1</minValue> | ||
| <maxValue>40</maxValue> | ||
| <viscousFriction>5.0e+7</viscousFriction> | ||
| </joint> | ||
| <link dynamicJointType='Prismatic'>pg70_finger2_link.xml</link> | ||
| </chain> | ||
| <eigenGrasps>eigen/eigen.xml</eigenGrasps> | ||
| <virtualContacts>virtual/minimum_contacts.xml</virtualContacts> | ||
| </robot> |
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hello, i'd like to know how to obtain these robot configuration file xml and iv? please help me?
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Hey @majiqiang, thanks for the interest. You can check you the Schunk PG70 files, here:
https://github.com/Roboskel-Manipulation/manos_graspit_config
Create an issue there if you need further assistance, so that we don't spam this repository.