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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,


Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-13

Post score: 1

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1 Answer 1

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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/1.9/Using_A_URDF_In_Gazebo

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


Originally posted by sep300 with karma: 61 on 2014-02-06

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Adolfo Rodriguez T on 2014-02-06:
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.

Comment by SHPOWER on 2014-09-19:
Have you managed to convert it to gazebo?

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