Update MST meshes (and xacro) to MSTXL and adding MST sensors taxels …

…TFs to the Hand TF tree. (#168) * Fixing dae files * Adding finger distal mst * Fixing finger distal mst * Adding thumb distal mst * Adding thumb distal mst * Adding colour to the thumb mst * Playing with colours * Playing with colours * Changing path * Adding meshes * Fixing lint * wip * Currently working with the wrong mesh and taxel tfs positions * Update hand tf tree to include correct mst tfs * Add thumb new_sensor tfs * Update MST meshes (and xacro) to MSTXL * Fix identation * Update license year * adding mst xacros, meshes * undo formatting commit * formatting * licence types * update licence years * missed a few sr_mst refs * add comment to explain why mst is treated differently --------- Co-authored-by: Beatriz Leon <[email protected]> Co-authored-by: carebare47 <[email protected]> Co-authored-by: Tom Queen <[email protected]>
shadow-robot · Apr 19, 2024 · b90cf70 · b90cf70
1 parent efa7d38
commit b90cf70
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Showing 12 changed files with 999 additions and 51 deletions.
diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -34,6 +34,7 @@
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.transmission.xacro" />
+  <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/f_distal_mstXL.urdf.xacro" />
 
   <xacro:macro name="distal" params="prefix:=^ link_prefix:=^ joint_prefix:=^ tip_sensor:=^|pst parent">
     <link name="${prefix}${link_prefix}distal">
@@ -56,6 +57,10 @@
           <xacro:if value="${tip_sensor == 'bt_2p'}">
             <mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
           </xacro:if>
+          <xacro:if value="${tip_sensor == 'mst'}">
+            <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae"
+                scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </visual>
       <collision>
@@ -72,6 +77,10 @@
           <xacro:if value="${tip_sensor == 'bt_2p'}">
             <mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
           </xacro:if>
+          <xacro:if value="${tip_sensor == 'mst'}">
+            <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae"
+                scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </collision>
     </link>
@@ -100,6 +109,10 @@
         <child link="${prefix}${link_prefix}tip" />
         <origin xyz="0 0 0.026" rpy="0 0 0" />
       </joint>
+      <!-- For mst we add a link for every taxel in the sensor -->
+      <xacro:if value="${tip_sensor == 'mst'}">
+        <xacro:f_mstXL_distal prefix="${prefix}" link_prefix="${link_prefix}" parent="${prefix}${link_prefix}distal" scale="0.001" show_mesh="false"/>
+      </xacro:if>
     </xacro:unless>
     <!-- extensions -->
     <xacro:distal_gazebo />

diff --git a/sr_description/hand/xacro/finger/distal/f_distal_mst.urdf.xacro b/sr_description/hand/xacro/finger/distal/f_distal_mst.urdf.xacro
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider">
+
+  <xacro:macro name="f_mst_distal" params="prefix:=^ link_prefix:=^ show_mesh:='true' parent scale">
+
+    <xacro:if value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:if>
+    <xacro:unless value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link"/>
+    </xacro:unless >
+
+    <joint name="${parent}_to_mst_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}${link_prefix}_mst_link"/>
+        <origin xyz="0.0 0.0 0.0" rpy= "0 0 0"/>
+    </joint>
+
+    <!-- Note that all the following transforms were obtained using the script `get_taxel_tfs_from_meshes,py`
+        Using the material available in the folders `meshes/f_distal` and `meshes/mst_distal_isolated_magnets -->
+    <link name="${prefix}${link_prefix}_taxel_0"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_0" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_0"/>
+        <origin xyz="${-8.22369229 * scale} ${0.84174718 * scale} ${20.3442993 * scale}" rpy= "-1.51862592 1.13933997e-04 1.48712643"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_1"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_1" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_1"/>
+        <origin xyz="${-5.75946224 * scale} ${-5.74478036 * scale} ${18.26051107 * scale}" rpy= "-1.58159180 -6.71731790e-05 2.42690513"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_2"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_2" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_2"/>
+        <origin xyz="${-5.91417873 * scale} ${-5.05409658 * scale} ${12.45321528 * scale}" rpy= "-1.66280129 -0.00608772 2.53902695"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_3"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_3" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_3"/>
+        <origin xyz="${-8.43282687 * scale} ${0.96216651 * scale} ${14.59734701 * scale}" rpy= "-1.54753275 3.24240971e-05 1.45149574"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_4"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_4" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_4"/>
+        <origin xyz="${-7.68203635 * scale} ${0.79578526 * scale} ${26.17632124 * scale}" rpy= "-1.28919069 5.30530704e-04 1.55692896"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_5"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_5" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_5"/>
+        <origin xyz="${5.28688373 * scale} ${-4.7369722 * scale} ${24.58590617 * scale}" rpy= "-1.22082488 0.07610618 -2.50029183"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_6"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_6" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_6"/>
+        <origin xyz="${7.69449197 * scale} ${0.89903445 * scale} ${26.12600604 * scale}" rpy= "-1.29276648 -5.26946556e-04 -1.55667717"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_7"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_7" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_7"/>
+        <origin xyz="${5.91165379 * scale} ${-5.61714876 * scale} ${18.49465235 * scale}" rpy= "-1.58492524 1.13661172e-04 -2.42121505"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_8"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_8" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_8"/>
+        <origin xyz="${0.06615032 * scale} ${-6.97387709 * scale} ${14.19480607 * scale}" rpy= "-1.67282547  0.00461393 -3.13249173"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_9"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_9" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_9"/>
+        <origin xyz="${-5.21115165 * scale} ${-4.91576955 * scale} ${24.30155729 * scale}" rpy= "-1.2222802 -0.07513634 2.49780854"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_10"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_10" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_10"/>
+        <origin xyz="${8.45986565 * scale} ${0.861049 * scale} ${14.10763345 * scale}" rpy= "-1.54518020 -3.92924667e-05 -1.45153757"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_11"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_11" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_11"/>
+        <origin xyz="${3.52164954 * scale} ${0.27197527 * scale} ${31.00432791 * scale}" rpy= "-0.46373384 0.09408412 -1.76080055"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_12"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_12" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_12"/>
+        <origin xyz="${0.17250826 * scale}  ${-4.23989717 * scale} ${28.40559919 * scale}" rpy= "-0.93063656 -0.00320981 -3.10503702"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_13"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_13" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_13"/>
+        <origin xyz="${-3.39317188 * scale} ${0.23408706 * scale} ${31.05830392 * scale}" rpy= "0.41240032  0.23752961 -1.68863204"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_14"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_14" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_14"/>
+        <origin xyz="${5.9497192 * scale} ${-4.99959925 * scale} ${12.14818119 * scale}" rpy= "-1.65696888  0.00512781 -2.51910844"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_15"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_15" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_15"/>
+        <origin xyz="${8.20404914 * scale} ${0.95723053 * scale} ${20.61497581 * scale}" rpy= "-1.52151750 -1.01807273e-04 -1.48702812"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_16"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_16" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_16"/>
+        <origin xyz="${0.12306373 * scale} ${-6.9757752 * scale} ${22.23037729 * scale}" rpy= "-1.37224849 0.00649497 -3.11547381"/>
+    </joint>
+  </xacro:macro>
+</robot>