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Adding STFs to the set of possible fingertips #147

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Adding STFs to the set of possible fingertips #147

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d145f60
Fixing dae files
Nov 14, 2022
6e0bb90
Adding finger distal mst
Nov 14, 2022
ba9d6c2
Fixing finger distal mst
Nov 14, 2022
8015de6
Adding thumb distal mst
Nov 14, 2022
d3ba89d
Adding thumb distal mst
Nov 14, 2022
72948fd
Adding colour to the thumb mst
Nov 15, 2022
a58b745
Playing with colours
Nov 15, 2022
0ff5603
Playing with colours
Nov 15, 2022
adc4e32
Merge branch 'noetic-devel' into F_SRC_7118
Feb 1, 2023
106813f
Changing path
Feb 2, 2023
1039a59
Adding meshes
Feb 2, 2023
a7ba7d6
Fixing lint
Feb 3, 2023
76eb3d8
Merge branch 'noetic-devel' into F_SRC_7118
rnzenha-s May 19, 2023
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10 changes: 9 additions & 1 deletion sr_description/hand/xacro/finger/distal/distal.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -56,6 +56,10 @@
<xacro:if value="${tip_sensor == 'bt_2p'}">
<mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
</xacro:if>
<xacro:if value="${tip_sensor == 'mst'}">
<mesh filename="package://sr_mst/meshes/f_distal/f_distal_mst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
</geometry>
</visual>
<collision>
Expand All @@ -72,6 +76,10 @@
<xacro:if value="${tip_sensor == 'bt_2p'}">
<mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
</xacro:if>
<xacro:if value="${tip_sensor == 'mst'}">
<mesh filename="package://sr_mst/meshes/f_distal/f_distal_mst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/process_sensor_parameters.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -59,7 +59,7 @@
<!-- Transform sensor parameter into proper type -->
<xacro:macro name="transform_to_type" params="name value default_tactile_sensor:=^|none
valid_finger_tokens:=^|${'th ff mf rf lf'.split()}
valid_sensor_tokens:=^|${'bt_2p bt_sp pst none'.split()}">
valid_sensor_tokens:=^|${'bt_2p bt_sp pst mst none'.split()}">
<!-- None acts as marker indicating that we didn't find the correct type specifier yet -->
<!-- Finally, _tmp_ should become a list of (finger, sensor) pairs -->
<xacro:property name="_tmp_" value="${None}" />
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8 changes: 8 additions & 0 deletions sr_description/hand/xacro/thumb/thdistal.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -134,6 +134,10 @@
<mesh filename="package://sr_description/meshes/components/th_distal/pst/th_distal_pst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
<xacro:if value="${tip_sensor == 'mst'}">
<mesh filename="package://sr_mst/meshes/th_distal/th_distal_mst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
<xacro:if value="${tip_sensor == 'bt_sp'}">
<mesh filename="package://sr_description/meshes/components/th_distal/bt_sp/th_distal_bt_sp.dae"
scale="0.001 0.001 0.001" />
Expand All @@ -154,6 +158,10 @@
<mesh filename="package://sr_description/meshes/components/th_distal/pst/th_distal_pst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
<xacro:if value="${tip_sensor == 'mst'}">
<mesh filename="package://sr_mst/meshes/th_distal/th_distal_mst.dae"
scale="0.001 0.001 0.001" />
</xacro:if>
<xacro:if value="${tip_sensor == 'bt_sp'}">
<mesh filename="package://sr_description/meshes/components/th_distal/bt_sp/th_distal_bt_sp.dae"
scale="0.001 0.001 0.001" />
Expand Down
86 changes: 43 additions & 43 deletions sr_description/meshes/components/th_distal/pst/th_distal_pst.dae
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -34,48 +34,48 @@
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
<profile_COMMON>
<technique sid="blender">
<phong>
<emission>
<color>0.00000 0.00000 0.00000 1</color>
</emission>
<ambient>
<color>0.05997 0.05997 0.05997 1</color>
</ambient>
<diffuse>
<color>0.16355 0.16355 0.16355 1</color>
</diffuse>
<specular>
<color>0.36585 0.36585 0.36585 1</color>
</specular>
<shininess>
<float>12.5</float>
</shininess>
<reflective>
<color>1.00000 1.00000 1.00000 1</color>
</reflective>
<reflectivity>
<float>0.0</float>
</reflectivity>
<transparent>
<color>1 1 1 1</color>
</transparent>
<transparency>
<float>0.0</float>
</transparency>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="black_spec" name="black_spec">
<instance_effect url="#black_spec-fx"/>
</material>
</library_materials>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
<profile_COMMON>
<technique sid="blender">
<phong>
<emission>
<color>0.00000 0.00000 0.00000 1</color>
</emission>
<ambient>
<color>0.05997 0.05997 0.05997 1</color>
</ambient>
<diffuse>
<color>0.16355 0.16355 0.16355 1</color>
</diffuse>
<specular>
<color>0.36585 0.36585 0.36585 1</color>
</specular>
<shininess>
<float>12.5</float>
</shininess>
<reflective>
<color>1.00000 1.00000 1.00000 1</color>
</reflective>
<reflectivity>
<float>0.0</float>
</reflectivity>
<transparent>
<color>1 1 1 1</color>
</transparent>
<transparency>
<float>0.0</float>
</transparency>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="black_spec" name="black_spec">
<instance_effect url="#black_spec-fx"/>
</material>
</library_materials>
<library_geometries>
<geometry id="th_distal_pst-mesh" name="th_distal_pst">
<mesh>
Expand Down