insert own gripper size for self-collision check


Atmaraaj
 Share

Recommended Posts

Hello,

I have built my own magnetic gripper (size: 350x250x70) and I'd like to know if I can tell the robot the size/model of the gripper, maybe via a URDF file, so it can use it for the self-collision check.

FYI: it is also possible for me to use the click-smart-plate if that's necessary.

Can any one please help me ?

Best

Atma

 

PS:

This is the URDF file I'm using:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="magnetplate_of_doom">
  <xacro:macro name="magnetplate_of_doom" params="side">
  <joint name="${side}_gripper_base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm -->
    <parent link="${side}_hand"/>
    <child link="${side}_robotiq_gripper"/>
  </joint>
  <link name="${side}_robotiq_gripper">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above -->
      <mass value="4"/> <!-- Enter your mass and inertial properties here -->
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
     </inertial>
  </link>
  </xacro:macro>
  <xacro:magnetplate_of_doom side="right"/>
</robot>

 

Link to comment
Share on other sites

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Guest
Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.

 Share