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Attaching Shadow hand to KUKA Arm #2

Closed sivammt closed 9 years ago

sivammt commented 9 years ago

I have issues in combining the urdf.xacro files of KUKA Arm and Shadow Hand. I tried attaching the files of KUKA Arm with barret hand and it worked well in simulation. But i cannot find the files for shadow hand of similar type. The barret hand urdf content is below. help me in finding such content for Shadow hand. Thank you

sivammt commented 9 years ago

sorry for the above file. I am attaching the jpg file below output-page-003 output-page-004 output-page-005 output-page-006 output-page-007

guihomework commented 9 years ago

On the shadow hand everything is generated via macros. Please look at sr_description/robots/arm_and_hand_motor.urdf.xacro it is basically a description doing world -> world to arm joint -> arm macro -> arm to hand joint ->hand macro

the way to go for you is then world -> world to kuka joint -> kuka -> kuka to shadow fixed joint -> hand macro.

of course this creates a xacro file that should be expanded with a xacro.py call (this is standard to load robot_description on the fly)

In the future, I suggest to ask these questions to the shadow robot team over their github, I also answer there as I participate to their developments, and this is more related to shadow than this tutorial is meant for.

sivammt commented 9 years ago

Thanks a lot for the solution. In case i get any further queries i will ask in shadow robot git-hub page.