Merge pull request #5 from mmurooka/jvrc1-gripper

[JVRC1] Widen the width of the grippers
jrl-umi3218 · Dec 15, 2022 · 1bb4203 · 1bb4203
2 parents 507d45f + 345d158
commit 1bb4203
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Showing 8 changed files with 74 additions and 20 deletions.
diff --git a/jvrc_description/README.md b/jvrc_description/README.md
@@ -4,3 +4,5 @@ jvrc_description
 This package contains the robot description for the JVRC-1 robot.
 
 This robot is a virtual robot initially created for the JVRC competition. The original VRML model can be retrieved from [github](https://github.com/jvrc/model). This model was initially obtained using [simtrans](https://github.com/fkanehiro/simtrans).
+
+The URDF model in this package corresponds to [the VRML model in mc_openrtm](https://github.com/jrl-umi3218/mc_openrtm/tree/master/projects/JVRC1/model/JVRC1). Compared to the original model, the grippers are wider so that they are more suitable for manipulation.
diff --git a/jvrc_description/calib/jvrc1/calib_data.LeftFootForceSensor b/jvrc_description/calib/jvrc1/calib_data.LeftFootForceSensor
@@ -0,0 +1,13 @@
+1.4985
+0.000850403
+-0.000949867
+0.000180785
+0.0300823
+6.28095e-05
+-0.069893
+0.000222272
+-0.000349766
+-3.50976e-05
+0.0125975
+0.00543415
+-0.0225577
diff --git a/jvrc_description/calib/jvrc1/calib_data.LeftHandForceSensor b/jvrc_description/calib/jvrc1/calib_data.LeftHandForceSensor
@@ -0,0 +1,13 @@
+1.70009
+0.000134036
+-0.000370303
+0.000185951
+2.31464e-05
+-0.00543527
+-0.111911
+0.000575967
+-0.000872442
+0.000114687
+0.00696926
+0.000691477
+-0.0337171
diff --git a/jvrc_description/calib/jvrc1/calib_data.RightFootForceSensor b/jvrc_description/calib/jvrc1/calib_data.RightFootForceSensor
@@ -0,0 +1,13 @@
+1.49662
+0.00250952
+-0.00269148
+0.000313644
+0.0301967
+0.000200838
+-0.0697468
+0.00227276
+-0.00161345
+0.000260779
+0.0365667
+0.0251883
+-0.0396339
diff --git a/jvrc_description/calib/jvrc1/calib_data.RightHandForceSensor b/jvrc_description/calib/jvrc1/calib_data.RightHandForceSensor
@@ -0,0 +1,13 @@
+1.70037
+-0.000201104
+-0.00065239
+0.000240497
+9.98885e-05
+0.00541507
+-0.111914
+0.00027548
+-0.000885336
+-0.000117922
+0.00706438
+0.00461102
+-0.0339486
diff --git a/jvrc_description/rsdf/jvrc1/l_wrist.rsdf b/jvrc_description/rsdf/jvrc1/l_wrist.rsdf
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot name="jvrc1">
   <gripper_surface name="LeftGripper" link="l_wrist">
-    <origin rpy="3.14 0.0 0.0" xyz="0.025 0.0 -0.095" />
+    <origin rpy="3.14 0.0 0.0" xyz="0.0 -0.0085 -0.095" />
     <motor rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" max_torque="1000" />
     <points>
       <origin rpy="-1.5707964897155762 -0.0 0.0" xyz="0.0 0.02 0.0" />

diff --git a/jvrc_description/rsdf/jvrc1/r_wrist.rsdf b/jvrc_description/rsdf/jvrc1/r_wrist.rsdf
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot name="jvrc1">
   <gripper_surface name="RightGripper" link="r_wrist">
-    <origin rpy="3.14 0.0 0.0" xyz="0.025 0.0 -0.095" />
+    <origin rpy="3.14 0.0 0.0" xyz="0.0 0.0085 -0.095" />
     <motor rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" max_torque="1000" />
     <points>
       <origin rpy="-1.5707964897155762 -0.0 0.0" xyz="0.0 0.02 0.0" />

diff --git a/jvrc_description/urdf/jvrc1.urdf b/jvrc_description/urdf/jvrc1.urdf
@@ -917,51 +917,51 @@
     <limit effort="100.0" lower="-2.61799387799" upper="2.61799387799" velocity="3.66519"/>
   </joint>
   <joint name="R_UTHUMB" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.023 -0.084"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.033 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_WRIST_Y_S"/>
     <child link="R_UTHUMB_S"/>
-    <limit effort="100.0" lower="-0.785398163397" upper="0.0" velocity="6.80678"/>
+    <limit effort="100.0" lower="-0.785398163397" upper="0.785398163397" velocity="6.80678"/>
   </joint>
   <joint name="R_LTHUMB" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="0.0 -2.47024622979e-15 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_UTHUMB_S"/>
     <child link="R_LTHUMB_S"/>
     <limit effort="100.0" lower="-1.57079632679" upper="0.0" velocity="13.6135"/>
-    <mimic joint="R_UTHUMB" multiplier="2" offset="0"/>
+    <mimic joint="R_UTHUMB" multiplier="3" offset="0"/>
   </joint>
   <joint name="R_UINDEX" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="0.025 -0.006 -0.102"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.025 -0.016 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_WRIST_Y_S"/>
     <child link="R_UINDEX_S"/>
     <limit effort="100.0" lower="0.0" upper="1.57079632679" velocity="9.42477"/>
-    <mimic joint="R_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="R_UTHUMB" multiplier="-1" offset="0"/>
   </joint>
   <joint name="R_LINDEX" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="3.46944695195e-17 -2.77555756156e-17 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_UINDEX_S"/>
     <child link="R_LINDEX_S"/>
     <limit effort="100.0" lower="0.0" upper="1.57079632679" velocity="5.75958"/>
-    <mimic joint="R_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="R_UTHUMB" multiplier="-3" offset="0"/>
   </joint>
   <joint name="R_ULITTLE" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.025 -0.006 -0.102"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.025 -0.016 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_WRIST_Y_S"/>
     <child link="R_ULITTLE_S"/>
     <limit effort="100.0" lower="0.0" upper="1.57079632679" velocity="9.42477"/>
-    <mimic joint="R_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="R_UTHUMB" multiplier="-1" offset="0"/>
   </joint>
   <joint name="R_LLITTLE" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="-3.46944695195e-17 -1.38777878078e-16 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="R_ULITTLE_S"/>
     <child link="R_LLITTLE_S"/>
     <limit effort="100.0" lower="0.0" upper="1.57079632679" velocity="5.75958"/>
-    <mimic joint="R_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="R_UTHUMB" multiplier="-3" offset="0"/>
   </joint>
   <joint name="L_SHOULDER_P" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.24 0.33"/>
@@ -1013,51 +1013,51 @@
     <limit effort="100.0" lower="-2.61799387799" upper="2.61799387799" velocity="3.66519"/>
   </joint>
   <joint name="L_UTHUMB" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="0.0 -0.023 -0.084"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 -0.033 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_WRIST_Y_S"/>
     <child link="L_UTHUMB_S"/>
-    <limit effort="100.0" lower="-0.0" upper="0.785398163397" velocity="6.80678"/>
+    <limit effort="100.0" lower="-0.785398163397" upper="0.785398163397" velocity="6.80678"/>
   </joint>
   <joint name="L_LTHUMB" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="0.0 2.16493489802e-15 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_UTHUMB_S"/>
     <child link="L_LTHUMB_S"/>
     <limit effort="100.0" lower="-0.0" upper="1.57079632679" velocity="13.6135"/>
-    <mimic joint="L_UTHUMB" multiplier="2" offset="0"/>
+    <mimic joint="L_UTHUMB" multiplier="3" offset="0"/>
   </joint>
   <joint name="L_UINDEX" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="0.025 0.006 -0.102"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.025 0.016 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_WRIST_Y_S"/>
     <child link="L_UINDEX_S"/>
     <limit effort="100.0" lower="-1.57079632679" upper="0.0" velocity="9.42477"/>
-    <mimic joint="L_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="L_UTHUMB" multiplier="-1" offset="0"/>
   </joint>
   <joint name="L_LINDEX" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="3.46944695195e-17 1.38777878078e-16 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_UINDEX_S"/>
     <child link="L_LINDEX_S"/>
     <limit effort="100.0" lower="-1.57079632679" upper="0.0" velocity="5.75958"/>
-    <mimic joint="L_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="L_UTHUMB" multiplier="-3" offset="0"/>
   </joint>
   <joint name="L_ULITTLE" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.025 0.006 -0.102"/>
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.025 0.016 -0.084"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_WRIST_Y_S"/>
     <child link="L_ULITTLE_S"/>
     <limit effort="100.0" lower="-1.57079632679" upper="0.0" velocity="9.42477"/>
-    <mimic joint="L_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="L_UTHUMB" multiplier="-1" offset="0"/>
   </joint>
   <joint name="L_LLITTLE" type="revolute">
     <origin rpy="0.0 -0.0 0.0" xyz="-3.46944695195e-17 2.77555756156e-17 -0.045"/>
     <axis xyz="1.0 0.0 0.0"/>
     <parent link="L_ULITTLE_S"/>
     <child link="L_LLITTLE_S"/>
     <limit effort="100.0" lower="-1.57079632679" upper="0.0" velocity="5.75958"/>
-    <mimic joint="L_UTHUMB" multiplier="-2" offset="0"/>
+    <mimic joint="L_UTHUMB" multiplier="-3" offset="0"/>
   </joint>
   <link name="gsensor">
   </link>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -4,3 +4,5 @@ jvrc_description
		This package contains the robot description for the JVRC-1 robot.

		This robot is a virtual robot initially created for the JVRC competition. The original VRML model can be retrieved from [github](https://github.com/jvrc/model). This model was initially obtained using [simtrans](https://github.com/fkanehiro/simtrans).

		The URDF model in this package corresponds to [the VRML model in mc_openrtm](https://github.com/jrl-umi3218/mc_openrtm/tree/master/projects/JVRC1/model/JVRC1). Compared to the original model, the grippers are wider so that they are more suitable for manipulation.