How to move jaco's fingertips

asked 2019-03-03 19:31:43 -0500

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hi all. i'm trying to move jaco's fingertips but controller doesn't work i try replace fingertips joint type 'fixed' to 'revolute' Then jaco's fingers and fingertips come apart.

this is jaco's finger and fingertips xacro file

<xacro:macro name="kinova_finger" params="prefix finger_number hand finger_origin_xyz finger_origin_rpy ">

    <xacro:kinova_armlink link_name="${prefix}link_finger_${finger_number}" link_mesh="finger_proximal" mesh_no="57"/>

    <joint name="${prefix}joint_finger_${finger_number}" type="revolute">
        <parent link="${hand}"/>
        <child link="${prefix}link_finger_${finger_number}"/>
        <axis xyz="0 0 1"/>
        <origin xyz="${finger_origin_xyz}" rpy="${finger_origin_rpy}"/>
        <limit lower="0" upper="0.5" effort="1" velocity="0.0005"/>

    </joint>
        <transmission name="${prefix}joint_finger_${finger_number}_trans">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="${prefix}joint_finger_${finger_number}">
                  <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="${prefix}joint_finger_${finger_number}_actuator">
                <hardwareInterface>EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>
     </xacro:macro>

  <xacro:macro name="kinova_finger_tip" params="prefix finger_number finger_tip_origin_xyz finger_tip_origin_rpy ">
       <xacro:kinova_armlink link_name="${prefix}link_finger_tip_${finger_number}" link_mesh="finger_distal" mesh_no="58"/>

    <joint name="${prefix}joint_finger_tip_${finger_number}" type="revolute">
        <parent link="${prefix}link_finger_${finger_number}"/>
        <child link="${prefix}link_finger_tip_${finger_number}"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0.044 -0.003 0" rpy="0 0 0.5"/>    
        <limit lower = "0" upper="0.5" effort="1" velocity="0.0005" />

    </joint>

  <transmission name="${prefix}joint_finger_tip_${finger_number}_trans">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="${prefix}joint_finger_tip_${finger_number}">
                  <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="${prefix}joint_finger_tip_${finger_number}_actuator">
                                    <hardwareInterface>EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>
</xacro:macro>
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