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Move many related Drake files into here #48

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merged 9 commits into from
Apr 1, 2024
Merged

Move many related Drake files into here #48

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37f8807
[franka_description] Move related Drake files into here
jwnimmer-tri Apr 1, 2024
fe65439
[iiwa_description] Move related Drake files into here
jwnimmer-tri Apr 1, 2024
2c0b749
[jaco_description] Move related Drake files into here
jwnimmer-tri Apr 1, 2024
29a05f0
[ur_description] Change directory names to match upstream
jwnimmer-tri Apr 1, 2024
6fd9628
[ur_description] Add backcompat ur3e symlink
jwnimmer-tri Apr 1, 2024
213e0a5
[ur_description] Move related Drake files into here
jwnimmer-tri Apr 1, 2024
9b7f7d2
[ur_description] Add xacro build rules
jwnimmer-tri Apr 1, 2024
7e63485
[ur_description] Update to new mesh paths
jwnimmer-tri Apr 1, 2024
6ca6e8f
[wsg_50_description] Move related Drake files into here
jwnimmer-tri Apr 1, 2024
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14 changes: 14 additions & 0 deletions BUILD.bazel
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Expand Up @@ -20,6 +20,20 @@ _XACROS = {
"src": "tri_homecart/homecart_cutting_board.sdf.xacro",
"data": [],
},
"ur_description/urdf/ur3e_cylinders_collision.urdf": {
"src": "ur_description/urdf/ur3e_cylinders_collision.urdf.xacro",
"data": [
"ur_description/urdf/ur.transmission.xacro",
"ur_description/urdf/ur3e.urdf.xacro",
],
},
"ur_description/urdf/ur3e_spheres_collision.urdf": {
"src": "ur_description/urdf/ur3e_spheres_collision.urdf.xacro",
"data": [
"ur_description/urdf/ur.transmission.xacro",
"ur_description/urdf/ur3e.urdf.xacro",
],
},
}

# Generate the xacro output into a temp dir.
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18 changes: 18 additions & 0 deletions franka_description/LICENSE.TXT
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This folder contains a model of the Franka Emika Panda arm.

This model was originally taken from the Franka ROS package, which is
available at:
https://github.com/frankaemika/franka_ros/tree/kinetic-devel/franka_description
SHA d7cd447344.

The license for these files is the Apache 2.0 license
https://github.com/frankaemika/franka_ros/blob/kinetic-devel/LICENSE
https://github.com/frankaemika/franka_ros/blob/kinetic-devel/franka_ros/package.xml

The inertial properties for the arm/hand were copied from
https://github.com/mkrizmancic/franka_gazebo which also uses the
Apache 2.0 license.

As a result, `urdf/*.urdf` are covered by the Apache 2.0 license. The remaining
files (README, unit test, BUILD, etc.) are covered by Drake's license terms
(see LICENSE.TXT in Drake's root folder).
51 changes: 50 additions & 1 deletion franka_description/README.md
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@@ -1,4 +1,53 @@
# Franka meshes
# Franka

This folder contains a drake-compatible model of the Franka Emika Panda arm.

The model differs from the original ROS model and the real robot. In this model
the fingers are independently actuated, rather than using <mimic> tag, which
Drake does not yet support.

In addition, some tags unsupported by Drake have been removed, to reduce the
burden of warning output. For URDF support details, see:
https://drake.mit.edu/doxygen_cxx/group__multibody__parsing.html

### Rotor Inertia and Gear Ratio

The rotor inertias and gear ratios have been picked so that their combination,
i.e rotor_interia * gear_ratio * gear_ratio, is equal to the reflected interia
provided by Franka for the FR-3 robots.
The reflected inertias for the joints of the Franka FR-3 are:
|Axis data | reflected inertia (kg m^2)|
|----------- |--------------------------:|
|Axis 1 (A1) |0.605721456 |
|Axis 2 (A2) |0.605721456 |
|Axis 3 (A3) |0.462474144 |
|Axis 4 (A4) |0.462474144 |
|Axis 5 (A5) |0.205544064 |
|Axis 6 (A6) |0.205544064 |
|Axis 7 (A7) |0.205544064 |

### Acceleration Limits

The joint acceleration values are taken based on the older FE-3 Panda (not
the newer FR-3 robot):
https://frankaemika.github.io/docs/control_parameters.html#limits-for-panda

|Axis data | acceleration limit (rad/s^2)|
|----------- |----------------------------:|
|Axis 1 (A1) |15 |
|Axis 2 (A2) |7.5 |
|Axis 3 (A3) |10 |
|Axis 4 (A4) |12.5 |
|Axis 5 (A5) |15 |
|Axis 6 (A6) |20 |
|Axis 7 (A7) |20 |

### Collision Filters

There is collision filtering applied between `(panda_link5, panda_link7)` and
`(panda_link6, panda_link8)`.

### Meshes

All files under `./meshes` were converted from the original versions
in the Franka ROS package, which is available at:
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128 changes: 128 additions & 0 deletions franka_description/urdf/hand.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document is a hand edited version of the output autogenerated by xacro | -->
<!-- | from hand.urdf.xacro | -->
<!-- =================================================================================== -->
<robot name="hand">
<link name="panda_hand">
<inertial>
<mass value="0.73"/>
<origin xyz="0 0.0015244 0.0275912" rpy="0 0 0"/>
<inertia ixx="0.00278560230025" ixy="0.0" ixz="0.0" iyy="0.000400033405336" iyz="0.0" izz="0.00256378041832"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0"/>
<geometry>
<mesh filename="package://drake_models/franka_description/meshes/visual/hand.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.06 0.015"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.06 0.03"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.03"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.06 0.03"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
</link>
<link name="panda_leftfinger">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0.0145644 0.0227941" rpy="0 0 0"/>
<inertia ixx="3.01220925051e-05" ixy="0.0" ixz="0.0" iyy="2.95873808038e-05" iyz="0.0" izz="6.95125211657e-06"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0"/>
<geometry>
<mesh filename="package://drake_models/franka_description/meshes/visual/finger.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.007 0.045"/>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.015 0.03"/>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0.0145644 0.0227941" rpy="0 0 3.14159265359"/>
<inertia ixx="3.01220925051e-05" ixy="0.0" ixz="0.0" iyy="2.95873808038e-05" iyz="0.0" izz="6.95125211657e-06"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/franka_description/meshes/visual/finger.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.007 0.045"/>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.015 0.03"/>
<geometry>
<sphere radius="0.012"/>
</geometry>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<transmission name="panda_finger_tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="panda_finger_joint1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="panda_finger_motor1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="panda_finger_tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="panda_finger_joint2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="panda_finger_motor2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
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