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Ajay Gunalanclaude
Ajay Gunalan
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claude
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feat: Implement complex F/T sensor chain with realistic meshes and fix topic compatibility
🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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+85
-29
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5 files changed

+85
-29
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‎ur_simulation_gz/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ option(
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OFF
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)
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install(DIRECTORY config launch urdf worlds
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install(DIRECTORY config launch urdf worlds meshes
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DESTINATION share/${PROJECT_NAME}
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)
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‎ur_simulation_gz/launch/ur_sim_control.launch.py‎

Lines changed: 2 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -200,12 +200,9 @@ def launch_setup(context, *args, **kwargs):
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name="ft_sensor_bridge",
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output="screen",
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arguments=[
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"/force_torque@geometry_msgs/msg/WrenchStamped[gz.msgs.Wrench"
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],
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remappings=[
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# Remap to F_P_P_raw for compatibility with calibration node
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("/force_torque", "/F_P_P_raw")
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"/netft/raw_sensor@geometry_msgs/msg/WrenchStamped[gz.msgs.Wrench"
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]
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# No remapping needed - direct topic from Gazebo sensor
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)
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nodes_to_start = [

‎ur_simulation_gz/meshes/visual/ati_netft_gamma.stl‎

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‎ur_simulation_gz/meshes/visual/vera_p42v_adapter.stl‎

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‎ur_simulation_gz/urdf/ur_ft_sensor.xacro‎

Lines changed: 82 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -2,60 +2,119 @@
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ur_ft_sensor_gazebo" params="prefix:=''">
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<!-- Tool/Payload link with significant mass to generate forces -->
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<link name="${prefix}tool_payload">
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<inertial>
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<mass value="1.0"/> <!-- 1 kg tool mass -->
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<origin xyz="0 0 0.05" rpy="0 0 0"/> <!-- Center of mass 5cm from joint -->
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<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
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</inertial>
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<!-- ATI NET-FT Sensor Properties -->
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<xacro:property name="sensor_dip" value="0.003" />
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<xacro:property name="sensor_length" value="0.04906" />
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<xacro:property name="sensor_collision_radius" value="0.065" />
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<!-- P42V Probe Properties -->
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<xacro:property name="p42v_collision_width" value="0.065" />
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<xacro:property name="wrist_height" value="0.035" />
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<xacro:property name="p42v_adapter_intrusion" value="0.020" />
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<xacro:property name="p42v_cable_end" value="0.080078" />
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<xacro:property name="p42v_trans_len" value="0.13859" />
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<xacro:property name="p42v_collision_height" value="${wrist_height - p42v_adapter_intrusion + p42v_cable_end + p42v_trans_len}" />
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<material name="visual_grey">
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<color rgba="0.5 0.5 0.5 1" />
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</material>
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<material name="visual_green">
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<color rgba="0.0 1.0 0.3 1" />
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</material>
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<!-- NET-FT Sensor Link 0 (mounting side) -->
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<joint name="${prefix}netft_joint0" type="fixed">
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<parent link="${prefix}tool0"/>
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<child link="${prefix}netft_link0"/>
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<origin rpy="0 0 0" xyz="0 0 ${-sensor_dip}"/>
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</joint>
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<link name="${prefix}netft_link0">
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<visual>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="0.04" length="0.1"/>
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<mesh filename="file://$(find ur_simulation_gz)/meshes/visual/ati_netft_gamma.stl" />
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</geometry>
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<material name="blue">
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<color rgba="0.2 0.2 0.8 1.0"/>
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</material>
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<material name="visual_grey" />
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</visual>
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<collision>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="0.04" length="0.1"/>
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<cylinder length="${sensor_length}" radius="${sensor_collision_radius}" />
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</geometry>
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<origin xyz="0 0 ${sensor_dip+(sensor_length/2)}" rpy="0 0 0" />
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</collision>
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</link>
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<!-- NET-FT Sensor Link 1 (output side - massless frame) -->
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<joint name="${prefix}netft_joint1" type="fixed">
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<origin xyz="0 0 ${sensor_dip+sensor_length}" rpy="0 0 0"/>
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<parent link="${prefix}netft_link0"/>
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<child link="${prefix}netft_link1"/>
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</joint>
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<link name="${prefix}netft_link1"/>
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<!-- F/T measurement joint (MUST be revolute for force measurement) -->
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<!-- Direct connection from wrist_3_link to tool_payload -->
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<!-- Connection from sensor output to probe with mass -->
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<joint name="${prefix}ft_sensor_joint" type="revolute">
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<parent link="${prefix}wrist_3_link"/>
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<child link="${prefix}tool_payload"/>
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<parent link="${prefix}netft_link1"/>
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<child link="${prefix}p42v_link0"/>
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<origin xyz="0 0 0" rpy="0 0 0"/> <!-- No rotation - ATI sign fix in software -->
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<axis xyz="0 0 1"/>
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<limit lower="0" upper="0" effort="1000" velocity="0"/>
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<dynamics damping="100.0" friction="100.0"/>
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</joint>
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<!-- P42V Probe Link 0 (adapter with mass) -->
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<link name="${prefix}p42v_link0">
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<inertial>
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<mass value="1.0"/> <!-- 1 kg tool mass -->
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<origin xyz="0 0 ${p42v_collision_height/2}" rpy="0 0 0"/> <!-- Center of mass at probe center -->
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<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="file://$(find ur_simulation_gz)/meshes/visual/vera_p42v_adapter.stl"/>
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</geometry>
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<material name="visual_green" />
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</visual>
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<collision>
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<geometry>
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<box size="${p42v_collision_width} ${p42v_collision_width} ${p42v_collision_height}" />
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</geometry>
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<origin xyz="0 0 ${p42v_collision_height/2}" rpy="0 0 0" />
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</collision>
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</link>
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<!-- P42V Probe Link 1 (TCP frame) -->
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<joint name="${prefix}p42v_joint1" type="fixed">
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<origin xyz="0 0 ${p42v_collision_height}" rpy="0 0 0" />
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<parent link="${prefix}p42v_link0" />
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<child link="${prefix}p42v_link1" />
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</joint>
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<link name="${prefix}p42v_link1" />
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<!-- Gazebo Force/Torque Sensor Plugin -->
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<!-- Sensor measures forces at the tool joint -->
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<!-- Sensor measures forces between sensor output and probe -->
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<gazebo reference="${prefix}ft_sensor_joint">
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<sensor name="${prefix}tcp_fts_sensor" type="force_torque">
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<always_on>true</always_on>
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<update_rate>100</update_rate> <!-- 100 Hz update rate -->
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<visualize>true</visualize>
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<topic>force_torque</topic>
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<frame>${prefix}wrist_3_link</frame>
102+
<topic>/netft/raw_sensor</topic>
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<frame>${prefix}p42v_link0</frame>
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<force_torque>
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<frame>child</frame> <!-- Measure in child (tool) frame -->
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<measure_direction>parent_to_child</measure_direction>
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</force_torque>
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</sensor>
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</gazebo>
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<!-- Visual indication of tool in Gazebo -->
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<gazebo reference="${prefix}tool_payload">
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<material>Gazebo/Blue</material>
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<!-- Visual indication in Gazebo -->
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<gazebo reference="${prefix}netft_link0">
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<material>Gazebo/Grey</material>
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</gazebo>
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<gazebo reference="${prefix}p42v_link0">
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<material>Gazebo/Green</material>
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</gazebo>
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</xacro:macro>
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