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[Humble] Fix: Robotiq 2F 140 Limits and Padding #312

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[Humble] Fix: Robotiq 2F 140 Limits and Padding #312

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16 changes: 14 additions & 2 deletions clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,10 @@
# modification, is not permitted without the express permission
# of Clearpath Robotics.
from clearpath_config.manipulators.types.arms import Franka
from clearpath_config.manipulators.types.grippers import FrankaGripper
from clearpath_config.manipulators.types.grippers import (
FrankaGripper,
Robotiq2F140
)
from clearpath_config.manipulators.types.manipulator import (
BaseManipulator,
ManipulatorPose
Expand Down Expand Up @@ -88,9 +91,18 @@ def __init__(self, manipulator):
super().__init__(manipulator)
self.parameters[self.NAME] = f'{manipulator.name}_{manipulator.arm_id}'

class Robotiq2F140SemanticDescription(BaseSemanticDescription):

def __init__(self, manipulator):
super().__init__(manipulator)
urdf_parameters = dict(manipulator.get_urdf_parameters())
self.parameters[Robotiq2F140.PADDING] = f"{
urdf_parameters.get(Robotiq2F140.PADDING, 'true')}"

MODEL = {
Franka.MANIPULATOR_MODEL: FrankaSemanticDescription,
FrankaGripper.MANIPULATOR_MODEL: FrankaSemanticDescription
FrankaGripper.MANIPULATOR_MODEL: FrankaSemanticDescription,
Robotiq2F140.MANIPULATOR_MODEL: Robotiq2F140SemanticDescription
}

def __new__(cls, manipulator: BaseManipulator) -> BaseManipulator:
Expand Down
15 changes: 13 additions & 2 deletions clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,15 @@
</group_state>
</xacro:macro>

<xacro:macro name="robotiq_2f_140" params="name">
<xacro:macro name="robotiq_2f_140" params="name padding:=true">

<xacro:if value="${padding}">
<xacro:property name="upper_finger_joint_limit" value="0.7"/>
</xacro:if>
<xacro:unless value="${padding}">
<xacro:property name="upper_finger_joint_limit" value="0.767"/>
</xacro:unless>

<group name="${name}">
<joint name="${name}_finger_joint"/>
<joint name="${name}_left_inner_knuckle_joint"/>
Expand All @@ -26,12 +34,15 @@
<xacro:robotiq_2f_140_group_state
name="${name}"
group_state="close"
joint_positions="${[0.7]}"
joint_positions="${[upper_finger_joint_limit]}"
/>

<disable_collisions link1="${name}_left_inner_knuckle" link2="${name}_left_inner_finger" reason="User"/>
<disable_collisions link1="${name}_right_inner_knuckle" link2="${name}_right_inner_finger" reason="User"/>
<disable_collisions link1="${name}_left_outer_knuckle" link2="${name}_left_inner_knuckle" reason="User"/>
<disable_collisions link1="${name}_right_outer_knuckle" link2="${name}_right_inner_knuckle" reason="User"/>
<xacro:if value="${padding}">
<disable_collisions link1="${name}_right_inner_finger_pad" link2="${name}_left_inner_finger_pad" reason="User"/>
</xacro:if>
</xacro:macro>
</robot>
21 changes: 16 additions & 5 deletions clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,18 @@
sim_isaac:=false
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
com_port:=/dev/ttyUSB0">
com_port:=/dev/ttyUSB0
padding:=true">

<!-- Variables Mappings -->
<xacro:property name="prefix" value="${name}_"/>
<xacro:property name="stroke" value="140"/>
<xacro:if value="${padding}">
<xacro:property name="upper_finger_joint_limit" value="0.7"/>
</xacro:if>
<xacro:unless value="${padding}">
<xacro:property name="upper_finger_joint_limit" value="0.767"/>
</xacro:unless>

<!-- this is a temporary link to rotate the 2f-140 gripper to match the 2f-85 -->
<link name="${prefix}robotiq_base_link"/>
Expand Down Expand Up @@ -213,7 +220,7 @@
<parent link="${prefix}robotiq_140_base_link" />
<child link="${prefix}left_outer_knuckle" />
<axis xyz="-1 0 0" />
<limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
<limit lower="0" upper="${upper_finger_joint_limit}" velocity="2.0" effort="1000" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
</xacro:macro>
Expand All @@ -224,7 +231,7 @@
<parent link="${prefix}robotiq_140_base_link" />
<child link="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
<limit lower="-0.775" upper="0.775" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
Expand Down Expand Up @@ -274,14 +281,18 @@
<xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
<xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:if value="${padding}">
<xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
</xacro:if>
</xacro:macro>

<xacro:macro name="finger_links" params="prefix fingerprefix stroke">
<xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:if value="${padding}">
<xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
</xacro:if>
<xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
</xacro:macro>

Expand Down
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