Robotiq gripper gazebo model

asked 2013-12-13 01:53:40 -0600

SHPOWER
302 ●27 ●35 ●37

updated 2014-01-28 17:18:49 -0600

ngrennan
1 ●1 ●1

Hi all,

I found in industrial stack/package a ROBOTIQ urdf model, but without a Gazebo description. Is such description exist? how can I create one?

Regards,

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answered 2014-02-06 03:55:09 -0600

sep300
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Hey,

We were in need of this model as well and started converting it to gazebo ourselves. You can do it yourself, following this tutorial: http://gazebosim.org/wiki/Tutorials/1...

Basically, you need to add <inertial> tags to all links. You need a little knowledge on urdf and xacro: http://wiki.ros.org/xacro</inertial>

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You'll also want to represent the finger's underactuation somehow. A Gazebo plugin would be an option. You would have to determine the efforts for each finger phalanx based on their current state, the actuator effort, and the contact forces.

Adolfo Rodriguez T ( 2014-02-06 04:23:31 -0600 )edit

Have you managed to convert it to gazebo?

SHPOWER ( 2014-09-19 06:32:28 -0600 )edit

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answered 2015-01-22 11:23:28 -0600

DevonW
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Hi,

I made a pull request to Robotiq which includes exactly what you specified. See the packages at https://github.com/TheDash/robotiq and look inside the robotiq_s_model_articulated_gazebo and run the launch file there. It includes full underactuation of joints and coupling, as well as commands to open and close gripper in simulation.

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Thanks Devon for providing those packages! Just to note, in the 'robotiq_hand.urdf.xacro' file, you include the xacro 'robotiq_hand.urdf.xacro' rather than 'robotiq_hand_macro.urdf.xacro', which results in an infinite loop.