FreeCAD: add freecad scene

.gitattributes

@@ -0,0 +1,10 @@
+*.blend filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.exr filter=lfs diff=lfs merge=lfs -text
+*.hdr filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.FCStd filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1,3 +1,22 @@
-# ignore SolidWorks temporary files
+# Temporary files KiCAD
+*.000
+*.bak
+*.bck
+*.kicad_pcb-bak
+*.sch-bak
+*~
+_autosave-*
+*.tmp
+*-save.pro
+*-save.kicad_pcb
+fp-info-cache
+# Netlist files (exported from Eeschema)
+*.net
+# Autorouter files (exported from Pcbnew)
+*.dsn
+*.ses
+
+# ignore SolidWorks temporary files & logs
 ~$*.SLDPRT
 ~$*.SLDASM
+*.log

README.md

@@ -1,7 +1,8 @@
-# Grip Tool
+![](img/title.png)
 
-Поворотный захват с двумя пальцами
+# Устройство захвата Robossembler
-v.1a 
+
+Параллельный захват с поворотным механизмом для вращения на 360 градусов.
 
 ## Характеристики
 

_grip_tool.FCStd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b321dcdcbaf09afaa41f1ebdcd8229eeb6cbff6765ef8f8c528effd4bf7a3a4
+size 18825692

rbs_gripper/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(rbs_gripper)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+install(DIRECTORY launch urdf meshes config
+  DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

rbs_gripper/LICENSE

@@ -0,0 +1,202 @@
+
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+                           Version 2.0, January 2004
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+
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rbs_gripper/config/view_robot.rviz

@@ -0,0 +1,208 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 1362
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        rbs-gripper_gripper_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rbs-gripper_l_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rbs-gripper_r_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rbs-gripper_rot_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        rbs-gripper_gripper_base_link:
+          Value: true
+        rbs-gripper_l_finger_link:
+          Value: true
+        rbs-gripper_r_finger_link:
+          Value: true
+        rbs-gripper_rot_base_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        world:
+          rbs-gripper_gripper_base_link:
+            rbs-gripper_rot_base_link:
+              rbs-gripper_l_finger_link:
+                {}
+              rbs-gripper_r_finger_link:
+                {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.6788996458053589
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6197971701622009
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.408583641052246
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1862
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000020000000648fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000af00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006d000006480000018000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000016600000648fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006d000006480000012f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000c0800000058fc0100000002fb0000000800540069006d0065010000000000000c08000004d300fffffffb0000000800540069006d006501000000000000045000000000000000000000088a0000064800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 3080
+  X: 120
+  Y: 64

rbs_gripper/launch/display.launch.py

@@ -0,0 +1,76 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    declared_arguments = []
+    # General arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="rbs_gripper",
+            description="Description package with robot URDF/XACRO files. Usually the argument \
+        is not set, it enables use of a custom description.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="rbs_gripper.xacro",
+            description="URDF/XACRO description file with the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "prefix",
+            default_value='""',
+            description="Prefix of the joint names, useful for \
+        multi-robot setup. If changed than also joint names in the controllers' configuration \
+        have to be updated.",
+        )
+    )
+    
+    description_package = LaunchConfiguration("description_package")
+    description_file = LaunchConfiguration("description_file")
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare(description_package), "config", "view_robot.rviz"]
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    nodes_to_start = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes_to_start)

rbs_gripper/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rbs_gripper</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rbs_gripper/urdf/rbs_gripper.urdf

@@ -1,9 +1,9 @@
-<?xml version="1.0" encoding="utf-8"?>
+ <?xml version="1.0" encoding="utf-8"?>
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
      Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="_grip_tool">
+  name="rbs-gripper-description">
   <link
     name="Grip_Base">
     <inertial>
@@ -26,7 +26,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Grip_Base.STL" />
+          filename="package://rbs-gripper-description/meshes/visual/Grip_Base.dae" />
       </geometry>
       <material
         name="">
@@ -40,7 +40,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Grip_Base.STL" />
+          filename="package://rbs-gripper-description/meshes/collision/Grip_Base.stl" />
       </geometry>
     </collision>
   </link>
@@ -66,7 +66,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
+          filename="package://rbs-gripper-description/meshes/visual/Grip_Rotator.dae" />
       </geometry>
       <material
         name="">
@@ -80,7 +80,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
+          filename="package://rbs-gripper-description/meshes/collision/Grip_Rotator.stl" />
       </geometry>
     </collision>
   </link>
@@ -124,7 +124,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Gripper_1.STL" />
+          filename="package://rbs-gripper-description/meshes/visual/Gripper_1.dae" />
       </geometry>
       <material
         name="">
@@ -138,7 +138,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Gripper_1.STL" />
+          filename="package://rbs-gripper-description/meshes/collision/Gripper_1.stl" />
       </geometry>
     </collision>
   </link>
@@ -182,7 +182,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Gripper_2.STL" />
+          filename="package://rbs-gripper-description/meshes/visual/Gripper_2.dae" />
       </geometry>
       <material
         name="">
@@ -196,7 +196,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://_grip_tool/meshes/Gripper_2.STL" />
+          filename="package://rbs-gripper-description/meshes/collision/Gripper_2.stl" />
       </geometry>
     </collision>
   </link>
@@ -218,4 +218,4 @@
       effort="0"
       velocity="0" />
   </joint>
-</robot>
+</robot>

rbs_gripper/urdf/rbs_gripper.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rbs-gripper">
+  <xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_macro.xacro"/>
+
+  <xacro:arg name="hardware" default="gazebo"/>  
+  <link name="world"/>
+  
+  <xacro:rbs_gripper prefix="" gripper_name="rbs-gripper" parent="world" hardware="$(arg hardware)">
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> 
+  </xacro:rbs_gripper>
+</robot>

rbs_gripper/urdf/rbs_gripper_macro.xacro

@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_ros2_control.xacro" />
+  <xacro:macro name="rbs_gripper" params="prefix gripper_name *origin parent hardware">
+
+    <xacro:rbs_gripper_hardware prefix="${prefix}" gripper_name="${gripper_name}"
+      hardware="${hardware}" />
+
+    <joint name="${prefix}${gripper_name}_gripper_base_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${parent}" />
+      <child link="${prefix}${gripper_name}_gripper_base_link" />
+    </joint>
+    <link name="${prefix}${gripper_name}_gripper_base_link">
+      <inertial>
+        <origin xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369" rpy="0 0 0" />
+        <mass value="1.13983632906086" />
+        <inertia ixx="0.00107738806534129" ixy="-1.09841172461737E-05" ixz="2.62750043451545E-06"
+          iyy="0.000717388573992299" iyz="-2.95426438182787E-05" izz="0.00115777179755934" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/visual/Grip_Base.dae" />
+        </geometry>
+        <material name="${prefix}${gripper_name}_material">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/collision/Grip_Base.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}${gripper_name}_rot_base_link">
+      <inertial>
+        <origin xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793" rpy="0 0 0" />
+        <mass value="0.161003401535982" />
+        <inertia ixx="0.00011089089949771" ixy="5.01335040610636E-06" ixz="1.74608448389267E-14"
+          iyy="0.000105515893695012" iyz="-2.03282362854432E-14" izz="0.000206912001661452" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/visual/Grip_Rotator.dae" />
+        </geometry>
+        <material name="${prefix}${gripper_name}_material">
+          <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/collision/Grip_Rotator.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}${gripper_name}_rot_base_joint" type="revolute">
+      <origin xyz="0 0 0.10861" rpy="0 0 0" />
+      <parent link="${prefix}${gripper_name}_gripper_base_link" />
+      <child link="${prefix}${gripper_name}_rot_base_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="0" upper="0" effort="0" velocity="0" />
+    </joint>
+    <link name="${prefix}${gripper_name}_l_finger_link">
+      <inertial>
+        <origin xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166" rpy="0 0 0" />
+        <mass value="0.0601996441483964" />
+        <inertia ixx="4.18533281165612E-05" ixy="-7.11657995951147E-06" ixz="1.81029223490065E-05"
+          iyy="7.89886367868258E-05" iyz="1.20542845942065E-05" izz="5.16740841307935E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/visual/Gripper_1.dae" />
+        </geometry>
+        <material name="${prefix}${gripper_name}_material">
+          <color rgba="0.752941176470588 0 0 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/collision/Gripper_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}${gripper_name}_l_finger_joint" type="prismatic">
+      <origin xyz="0 0 0.1071" rpy="0 0 1.5708" />
+      <parent link="${prefix}${gripper_name}_rot_base_link" />
+      <child link="${prefix}${gripper_name}_l_finger_link" />
+      <axis xyz="-1 0 0" />
+      <limit lower="0" upper="0.064" effort="0" velocity="0" />
+			<mimic joint="${prefix}${gripper_name}_r_finger_joint" multiplier="1" />
+    </joint>
+    <link name="${prefix}${gripper_name}_r_finger_link">
+      <inertial>
+        <origin xyz="0.0039988 -0.077778 -0.01873" rpy="0 0 0" />
+        <mass value="0.0602" />
+        <inertia ixx="4.1853E-05" ixy="1.8103E-05" ixz="7.1166E-06" iyy="5.1674E-05"
+          iyz="-1.2054E-05"
+          izz="7.8989E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/visual/Gripper_2.dae" />
+        </geometry>
+        <material name="${prefix}${gripper_name}_material">
+          <color rgba="0.75294 0 0 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find rbs_gripper)/meshes/collision/Gripper_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}${gripper_name}_r_finger_joint" type="prismatic">
+      <origin xyz="0 0 0.1071" rpy="1.5708 0 -1.5708" />
+      <parent link="${prefix}${gripper_name}_rot_base_link" />
+      <child link="${prefix}${gripper_name}_r_finger_link" />
+      <axis xyz="-1 0 0" />
+      <limit lower="0" upper="0.064" effort="0" velocity="0" />
+    </joint>
+    <link name="${prefix}gripper_grasp_point" />
+    <joint name="${prefix}${gripper_name}_gripper_tool0_joint" type="fixed">
+      <origin xyz="0 0 0.2" rpy="0 0 0" />
+      <parent link="${prefix}${parent}" />
+      <child link="${prefix}gripper_grasp_point" />
+    </joint>
+  </xacro:macro>
+</robot>

rbs_gripper/urdf/rbs_gripper_ros2_control.xacro

@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="rbs_gripper_hardware"
+    params="prefix gripper_name hardware">
+
+    <ros2_control name="${prefix}${gripper_name}_${hardware}" type="system">
+      <!-- Plugins -->
+      <hardware>
+        <xacro:if value="${hardware=='isaac'}">
+          <plugin>isaac_ros2_control/IsaacSystem</plugin>
+          <param name="joint_commands_topic">/isaac_joint_commands</param>
+          <param name="joint_states_topic">/isaac_joint_states</param>
+        </xacro:if>
+        <xacro:if value="${hardware=='gazebo'}">
+          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        </xacro:if>
+        <xacro:if value="${hardware=='fake'}">
+          <plugin>mock_components/GenericSystem</plugin>
+        </xacro:if>
+      </hardware>
+      <!-- Joint interfaces -->
+      <joint name="${prefix}${gripper_name}_rot_base_joint">
+        <xacro:if value="${hardware=='gazebo'}">
+          <state_interface name="position">
+            <param name="initial_value">0.000</param>
+          </state_interface>
+        </xacro:if>
+        <xacro:unless value="${hardware=='gazebo'}">
+          <param name="initial_value">0.000</param>
+          <state_interface name="position" />
+        </xacro:unless>
+
+        <command_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+      <joint name="${prefix}${gripper_name}_r_finger_joint">
+        <!-- With Gazebo, we have mimic joints, so we only need this command interface
+                activated -->
+        <xacro:if value="${hardware=='gazebo'}">
+          <state_interface name="position">
+            <param name="initial_value">0.004</param>
+          </state_interface>
+        </xacro:if>
+        <xacro:unless value="${hardware=='gazebo'}">
+          <param name="initial_position">0.000</param>
+          <state_interface name="position" />
+        </xacro:unless>
+
+        <command_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+      <joint name="${prefix}${gripper_name}_l_finger_joint">
+        <param name="mimic">${prefix}${gripper_name}_r_finger_joint</param>
+        <param name="multiplier">1</param>
+        <xacro:unless value="${hardware == 'gazebo'}">
+          <command_interface name="position" />
+          <state_interface name="position" />
+          <state_interface name="velocity" />
+        </xacro:unless>
+      </joint>
+
+
+    </ros2_control>
+  </xacro:macro>
+</robot>

researches/topoopt_report.md

@@ -0,0 +1,80 @@
+---
+title: Топологическая оптимизация корпуса механического захвата Roboarm
+  Griptool
+---
+
+Конструкторские изыскания привели к созданию универсального
+механического захвата следующего вида:
+
+![](./media/image1.png)
+
+Однако корпус данного изделия представляет собой чрезмерно громоздкую и
+тяжелую конструкцию, которая существенно ограничивает возможности
+манипулятора, а также -- требует больших затрат при изготовлении.
+
+По этой причине производились исследования в поле возможностей
+оптимизации данной конструкции с целью уменьшения массы при сохранении
+требуемых прочностных характеристик.
+
+Для данной работы использовался пакет Solidworks Simulation, позволяющий
+производить анализ изделий методом конечных элементов, а также
+производить топологическую оптимизацию.
+
+Стартовая масса корпуса и крышки -- 0.33 кг.
+
+Для запуска расчета и оптимизации была создана упрощенная модель
+корпуса, лишенная всех мелких деталей.
+
+![](./media/image2.png)
+
+Рассматривается нагруженное состояние, получаемое при одновременном
+воздействии двух шаговых двигателей, реакций опоры от обоих редукторов и
+массы, приложенной к пальцам захвата. Схема приложения нагружения
+отражена на следующем рисунке.
+
+Значения нагружений:
+
+\- Крутящие моменты двигателей -- 4 кгс/см
+
+\- Реакции опор редукторов -- 20 кгс/см
+
+\- Растягивающе-изгибающая нагрузка, направленная по осям x, y, z по 2.5
+кгс на каждое
+
+Участок крепления стыковочного модуля зафиксирован.
+
+![](./media/image3.png)
+
+Были заданы условия симметричности конструкции относительно продольной
+оси, что позволило учесть и случай с противоположно приложенными
+нагрузками. Предел прочности для материала был задан как 30 МПа.
+
+По результатам топологической оптимизации была получена следующая
+геометрия:
+
+![](./media/image4.png)
+
+Масса модели -- 0.19 кг
+
+При этом модель возможно дополнительно облегчить за счет учета
+внутренних пустот при 3д-печати.
+
+Полученная модель была приблизительно перерисована с помощью
+твердотельных элементов в Solidworks.
+
+В итоге был получен следующий результат.
+
+![](./media/image5.png)
+
+Масса полученной детали -- 0.24 кг.
+
+Был произведен поверочный расчет, чтобы выяснить, насколько конструкция
+соответствует требованиям и насколько большой запас прочности имеет.
+Были приложены те же нагрузки, что использовались при оптимизации.
+
+![](./media/image6.png)
+
+Предел нагрузок не превышает 5МПа, что существенно ниже предела
+прочности пластика АБС. Это говорит о том, что полученная конструкция
+сохраняет требуемую прочность, а так же -- что она может быть
+оптимизирована и дальше.

sdf/grip_tool/meshes/grip_tool_grip1.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9073d3d1df5baed66ddbf52ff6dd77e4865efa7b0d60f4f54cc6d3c1b1edde
+size 102231

sdf/grip_tool/meshes/grip_tool_grip1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebeeb8841a5fd6295a315eba8032e390614d7d044bce823d9bb0908053dbbce
+size 36584

sdf/grip_tool/meshes/grip_tool_root.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334eb4235abda3c4b03d61837834e092f327d260177e9d8af56fb6b37ee7258a
+size 443375

sdf/grip_tool/meshes/grip_tool_root.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b22f6ea8c60b38b52d333a4e00efac5aed1fc153dc3b696e76b4b012f7cd06
+size 121884

sdf/grip_tool/meshes/grip_tool_tool.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3958986941c076dc41f5f8ad4049a559cbd7221e83153867a95731b95f41a760
+size 338225

sdf/grip_tool/meshes/grip_tool_tool.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b22f6ea8c60b38b52d333a4e00efac5aed1fc153dc3b696e76b4b012f7cd06
+size 121884

sdf/grip_tool/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>grip_tool</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>brothermechanic</name>
+    <email>brothermechanic@gmail.com</email>
+  </author>
+
+  <description>
+    Grip Tool
+  </description>
+</model>

sdf/grip_tool/model.sdf

@@ -0,0 +1,152 @@
+<?xml version="1.0"?>
+<!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
+<sdf version="1.6">
+  <model name="grip_tool">
+    <link name="root">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="grip_tool_root">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="grip_tool_root">
+        <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+        <material>
+          <ambient>0.8 0.8 0.8 1.0</ambient>
+          <diffuse>0.8 0.8 0.8 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1.0</specular>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="link_grip_tool_tool">
+      <pose>0 0 0.1095 0 0 0</pose>
+      <collision name="grip_tool_tool">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="grip_tool_tool">
+        <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+        <material>
+          <ambient>0.8 0.8 0.8 1.0</ambient>
+          <diffuse>0.8 0.8 0.8 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1.0</specular>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="link_grip_tool_grip1">
+      <pose>0.068 0.02375 0.1145 0 1.5708 0</pose>
+      <collision name="grip_tool_grip1">
+        <pose>0 0 0 0 -1.5708 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="grip_tool_grip1">
+        <pose>-2.3167228135889673e-09 0.0 0.0 -0.0 -1.570796251296997 0.0</pose>
+        <material>
+          <ambient>0.8 0.8 0.8 1.0</ambient>
+          <diffuse>0.8 0.8 0.8 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1.0</specular>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="link_grip_tool_grip2">
+      <pose>-0.068 -0.02375 0.1145 3.14159 1.5708 0</pose>
+      <collision name="grip_tool_grip2">
+        <pose>0 0 0 0 -1.5708 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="grip_tool_grip2">
+        <pose>1.661072168701594e-09 0.0 0.0 -1.7021841970882648e-14 -1.5707961320877075 0.0</pose>
+        <material>
+          <ambient>0.8 0.8 0.8 1.0</ambient>
+          <diffuse>0.8 0.8 0.8 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1.0</specular>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="link_grip_tool_tool" type="revolute">
+      <parent>root</parent>
+      <child>link_grip_tool_tool</child>
+      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+      <axis>
+        <xyz>0 0 1.0</xyz>
+        <limit>
+          <lower></lower>
+          <upper></upper>
+          <effort>2.0</effort>
+          <velocity>1.0</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="link_grip_tool_grip1" type="prismatic">
+      <parent>link_grip_tool_tool</parent>
+      <child>link_grip_tool_grip1</child>
+      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+      <axis>
+        <xyz>0 0 1.0</xyz>
+        <limit>
+          <lower>-0.05</lower>
+          <upper>0</upper>
+          <effort>2.0</effort>
+          <velocity>1.0</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="link_grip_tool_grip2" type="prismatic">
+      <parent>link_grip_tool_tool</parent>
+      <child>link_grip_tool_grip2</child>
+      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+      <axis>
+        <xyz>0 0 1.0</xyz>
+        <limit>
+          <lower>-0.05</lower>
+          <upper>0</upper>
+          <effort>2.0</effort>
+          <velocity>1.0</velocity>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>

sdf/grip_tool/textures/T_grip_tool_d.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a21eb1d38e18f186aa9770ac050c23c49eb732ff0eade2c416c04ec76d9ec4
+size 173681

sdf/grip_tool/textures/T_grip_tool_n.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20aee01d1c062d4db303253926809a57518de6c2758c796faaa85e5463dbf79e
+size 2348237

sdf/grip_tool/textures/T_grip_tool_orm.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa77f14788fd485cda5d3828d6df1a8d9b6e3345ea08e6af82b37291f059a7f2
+size 3381575

src/console.log

@@ -1,10 +0,0 @@
-Level: Info
-Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
-Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
-Line: 179
------------------------
-Level: Info
-Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
-Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
-Line: 179
------------------------

src/desktop.ini

@@ -1,4 +0,0 @@
-[ViewState]
-Mode=
-Vid=
-FolderType=Generic

urdf/grip-tool/_grip_tool/CMakeLists.txt

@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(_grip_tool)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-find_package(roslaunch)
-
-foreach(dir config launch meshes urdf)
-	install(DIRECTORY ${dir}/
-		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)

urdf/grip-tool/_grip_tool/config/joint_names__grip_tool.yaml

@@ -1 +0,0 @@
-controller_joint_names: ['', 'grip_rot', 'open_1', 'open_2', ]

urdf/grip-tool/_grip_tool/launch/display.launch

@@ -1,20 +0,0 @@
-<launch>
-  <arg
-    name="model" />
-  <param
-    name="robot_description"
-    textfile="$(find _grip_tool)/urdf/_grip_tool.urdf" />
-  <node
-    name="joint_state_publisher_gui"
-    pkg="joint_state_publisher_gui"
-    type="joint_state_publisher_gui" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find _grip_tool)/urdf.rviz" />
-</launch>

urdf/grip-tool/_grip_tool/launch/gazebo.launch

@@ -1,20 +0,0 @@
-<launch>
-  <include
-    file="$(find gazebo_ros)/launch/empty_world.launch" />
-  <node
-    name="tf_footprint_base"
-    pkg="tf"
-    type="static_transform_publisher"
-    args="0 0 0 0 0 0 base_link base_footprint 40" />
-  <node
-    name="spawn_model"
-    pkg="gazebo_ros"
-    type="spawn_model"
-    args="-file $(find _grip_tool)/urdf/_grip_tool.urdf -urdf -model _grip_tool"
-    output="screen" />
-  <node
-    name="fake_joint_calibration"
-    pkg="rostopic"
-    type="rostopic"
-    args="pub /calibrated std_msgs/Bool true" />
-</launch>

urdf/grip-tool/_grip_tool/package.xml

@@ -1,21 +0,0 @@
-<package format="2">
-  <name>_grip_tool</name>
-  <version>1.0.0</version>
-  <description>
-    <p>URDF Description package for _grip_tool</p>
-    <p>This package contains configuration data, 3D models and launch files
-for _grip_tool robot</p>
-  </description>
-  <author>TODO</author>
-  <maintainer email="TODO@email.com" />
-  <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roslaunch</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>rviz</depend>
-  <depend>joint_state_publisher_gui</depend>
-  <depend>gazebo</depend>
-  <export>
-    <architecture_independent />
-  </export>
-</package>