Add meshes and URDF for robotiq 2f 140

clearpathrobotics · Sep 6, 2024 · 3ef3cb6 · 3ef3cb6
1 parent e65946c
commit 3ef3cb6
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Showing 15 changed files with 355 additions and 17 deletions.
diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py
@@ -97,7 +97,7 @@ class KinovaArmDescription(ArmDescription):
         GRIPPER_COMM = 'use_internal_bus_gripper_comm'
         GRIPPER_NAMES = {
             Kinova2FLite.get_manipulator_model(): '_right_finger_bottom_joint',
-            Robotiq2F140.get_manipulator_model(): '_robotiq_85_left_knuckle_joint',
+            Robotiq2F140.get_manipulator_model(): '_finger_joint',
             Robotiq2F85.get_manipulator_model(): '_robotiq_85_left_knuckle_joint',
         }
 

diff --git a/clearpath_manipulators_description/CMakeLists.txt b/clearpath_manipulators_description/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(clearpath_manipulators_description)
 
 find_package(ament_cmake REQUIRED)
-install(DIRECTORY urdf config srdf launch
+install(DIRECTORY urdf config srdf launch meshes
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_base_link.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_base_link.stl
diff --git a/..._manipulators_description/meshes/gripper/robotiq_2f_140_base_link_collision.stl b/..._manipulators_description/meshes/gripper/robotiq_2f_140_base_link_collision.stl
diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_coupling.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_coupling.stl
diff --git a/...h_manipulators_description/meshes/gripper/robotiq_2f_140_coupling_collision.stl b/...h_manipulators_description/meshes/gripper/robotiq_2f_140_coupling_collision.stl
diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_inner_finger.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_inner_finger.stl
diff --git a/...nipulators_description/meshes/gripper/robotiq_2f_140_inner_finger_collision.stl b/...nipulators_description/meshes/gripper/robotiq_2f_140_inner_finger_collision.stl
diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_inner_knuckle.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_inner_knuckle.stl
diff --git a/...ipulators_description/meshes/gripper/robotiq_2f_140_inner_knuckle_collision.stl b/...ipulators_description/meshes/gripper/robotiq_2f_140_inner_knuckle_collision.stl
diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_outer_finger.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_outer_finger.stl
diff --git a/...nipulators_description/meshes/gripper/robotiq_2f_140_outer_finger_collision.stl b/...nipulators_description/meshes/gripper/robotiq_2f_140_outer_finger_collision.stl
diff --git a/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_outer_knuckle.stl b/clearpath_manipulators_description/meshes/gripper/robotiq_2f_140_outer_knuckle.stl
diff --git a/...ipulators_description/meshes/gripper/robotiq_2f_140_outer_knuckle_collision.stl b/...ipulators_description/meshes/gripper/robotiq_2f_140_outer_knuckle_collision.stl
diff --git a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro