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New hand G (lite) version with new plam flesh - Hand version G4 #172

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New hand G (lite) version with new plam flesh - Hand version G4 #172

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a33f66a
Update colors of FF, MF, RF, and LF STF (MST) distals, from white to …
Dec 9, 2024
d35bf03
Other fixes
Dec 10, 2024
c34b422
Update license years
Dec 10, 2024
7bacb00
Fix weird spacing issue?
Dec 10, 2024
54f45f5
Fix identation
Dec 10, 2024
16f68e2
More identation fixing
Dec 10, 2024
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2024 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 All @@ -27,7 +27,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find sr_description)/hand/xacro/validate_macros.xacro" />
<xacro:property name="allowed_hand_types" value="${python.set('hand_e hand_g hand_c'.split())}" />
<xacro:property name="allowed_hand_versions" value="${python.set('E4 E3M5 E2M3 C6M2 G1M5'.split())}"/>
<xacro:property name="allowed_hand_versions" value="${python.set('E4 E3M5 E2M3 C6M2 G4 G1M5'.split())}"/>
<xacro:property name="allowed_sides" value="${python.set('right left'.split())}"/>
<xacro:property name="allowed_mounting_plate" value="${python.set([False, True])}"/>

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2 changes: 1 addition & 1 deletion sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2024 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:
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51 changes: 29 additions & 22 deletions sr_description/meshes/components/f_distal/mst/f_distal_mst.dae
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55 changes: 32 additions & 23 deletions sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae
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133 changes: 133 additions & 0 deletions sr_description/meshes/components/f_knuckle/f_knuckle_G4.dae
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139 changes: 139 additions & 0 deletions sr_description/meshes/components/f_middle/f_middle_G4.dae
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139 changes: 139 additions & 0 deletions sr_description/meshes/components/f_proximal/f_proximal_G4.dae
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122 changes: 122 additions & 0 deletions sr_description/meshes/components/forearm/forearm_G4.dae
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28 changes: 14 additions & 14 deletions sr_description/meshes/components/forearm/forearm_collision_E4.dae
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107 changes: 107 additions & 0 deletions sr_description/meshes/components/mounting_plate/mounting_plate_G4.dae
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122 changes: 122 additions & 0 deletions sr_description/meshes/components/palm/palm_G4.dae
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139 changes: 139 additions & 0 deletions sr_description/meshes/components/th_middle/th_middle_G4.dae
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139 changes: 139 additions & 0 deletions sr_description/meshes/components/th_proximal/th_proximal_G4.dae
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6 changes: 3 additions & 3 deletions sr_description/robots/sr_hand_bimanual.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<!--
Software License Agreement (BSD License)
Copyright © 2022 belongs to Shadow Robot Company Ltd.
Copyright © 2022, 2024 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 @@ -36,7 +36,7 @@
<xacro:arg name="arm_x_separation" default="-0.4"/>

<xacro:arg name="right_hand_type" default="hand_e"/>
<xacro:arg name="right_hand_version" default="E3M5"/>
<xacro:arg name="right_hand_version" default="E4"/>
<xacro:arg name="right_fingers" default="all"/>
<xacro:arg name="right_tip_sensors" default="pst"/>
<xacro:arg name="right_mid_sensors" default="none"/>
Expand All @@ -45,7 +45,7 @@
<xacro:arg name="right_mounting_plate" default="false"/>

<xacro:arg name="left_hand_type" default="hand_e"/>
<xacro:arg name="left_hand_version" default="E3M5"/>
<xacro:arg name="left_hand_version" default="E4"/>
<xacro:arg name="left_fingers" default="all"/>
<xacro:arg name="left_tip_sensors" default="pst"/>
<xacro:arg name="left_mid_sensors" default="none"/>
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