customization ok in rviz
This commit is contained in:
Pierre Lecomte
parent
c821a60651
commit
5cbdf490ad
@ -52,7 +52,8 @@ according to your needs.
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### Software modifications
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Once the physical modification of the robotic arm has been completed, several files need to be updated to use ROS 2 with the new arm.
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The default arm name is `wx250s` and one will create a new arm configuration `wx250s_custom`. To do so:
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1. Open the file `~/interbotix_ws/install/interbotix_xs_modules/lib/python3.10/site-packages/interbotix_xs_modules/xs_common/xs_common.py` and add `wx250_custom` to the `_XSARM_MODELS` tuple (near line 32).
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2. Copy the [/wx250s_custom](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/wx250s_custom.urdf.xacro) to folder `~/interbotix_ws/install/interbotix_xsarm_descriptions/share/interbotix_xsarm_descriptions/urdf/`.
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3. Open the file `wx250s_custom.urdf.xacro`
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1. Copy the file [/wx250s_custom/xs_common.py] to `~/interbotix_ws/install/interbotix_xs_modules/lib/python3.10/site-packages/interbotix_xs_modules/xs_common/xs_common.py`.
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2. Copy the file [/wx250s_custom/wx250s_custom.urdf.xacro](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/wx250s_custom.urdf.xacro) to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/`.
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3. Copy the file [/wx250s_custom/wx250s_custom.yaml]() to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/wx250s_custom.yaml`
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4. Copy the folder [/wx250s_custom/wx259s_custom_meshes]() to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/`
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10. Run command `colcon build` in folder `~/interbotix_ws/`
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BIN
wx250s_custom/WidowX-250s.pdf
Normal file
BIN
wx250s_custom/WidowX-250s.pdf
Normal file
Binary file not shown.
700
wx250s_custom/wx250s_custom.urdf
Normal file
700
wx250s_custom/wx250s_custom.urdf
Normal file
@ -0,0 +1,700 @@
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<?xml version="1.0"?>
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<robot name="wx250s_custom" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="interbotix_black">
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<texture filename="package://interbotix_xsarm_descriptions/meshes/interbotix_black.png"/>
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</material>
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<link name="world"/>
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<joint name="fixed" type="fixed">
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<parent
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link="world"/>
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<child
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link="wx250s_custom/base_link"/>
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</joint>
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<link name="wx250s_custom/base_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/base.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/base.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="-0.0380446000 0.0006138920 0.0193354000"/>
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<mass value="0.538736"/>
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<inertia
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ixx="0.0021150000"
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iyy="0.0006921000"
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izz="0.0025240000"
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ixy="-0.0000163500"
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ixz="0.0000006998"
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iyz="0.0000464200"/>
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</inertial>
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</link>
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<joint name="waist" type="revolute">
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<axis xyz="0 0 1"/>
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<limit
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effort="10"
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lower="-3.141582653589793"
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upper="3.141582653589793"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0 0 0.072"/>
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<parent
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link="wx250s_custom/base_link"/>
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<child
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link="wx250s_custom/shoulder_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/shoulder_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 -0.003"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/shoulder.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 -0.003"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/shoulder.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0.0000223482 0.0000414609 0.0066287000"/>
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<mass value="0.480879"/>
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<inertia
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ixx="0.0003790000"
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iyy="0.0005557000"
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izz="0.0005889000"
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ixy="0.0000000022"
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ixz="-0.0000003561"
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iyz="0.0000012245"/>
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</inertial>
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</link>
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<joint name="shoulder" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="20"
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lower="-1.8849555921538759"
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upper="-1.9896753472735356"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0 0 0.03865"/>
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<parent
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link="wx250s_custom/shoulder_link"/>
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<child
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link="wx250s_custom/upper_arm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/upper_arm_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_arm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_arm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0.0171605000 0.0000002725 0.1913230000"/>
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<mass value="0.430811"/>
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<inertia
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ixx="0.0034630000"
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iyy="0.0035870000"
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izz="0.0004566000"
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ixy="-0.0000000001"
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ixz="-0.0000000002"
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iyz="0.0004272000"/>
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</inertial>
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</link>
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<joint name="elbow" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="15"
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lower="-2.1467549799530254"
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upper="1.605702911834783"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0.04975 0 0.25"/>
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<parent
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link="wx250s_custom/upper_arm_link"/>
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<child
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link="wx250s_custom/upper_forearm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/upper_forearm_link">
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<visual>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 0"
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xyz="0.1079630000 0.0001158760 0"/>
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<mass value="0.234589"/>
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<inertia
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ixx="0.0000397100"
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iyy="0.0008878000"
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izz="0.0008880000"
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ixy="0.0000023528"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="forearm_roll" type="revolute">
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<axis xyz="1 0 0"/>
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<limit
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effort="2"
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lower="-3.141582653589793"
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upper="3.141582653589793"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0.175 0 0"/>
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<parent
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link="wx250s_custom/upper_forearm_link"/>
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<child
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link="wx250s_custom/lower_forearm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/lower_forearm_link">
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<visual>
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<origin
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rpy="3.141592653589793 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/lower_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="3.141592653589793 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/lower_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="3.141592653589793 0 0"
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xyz="0.0374395000 0.0052225200 0"/>
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<mass value="0.220991"/>
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<inertia
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ixx="0.0000636900"
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iyy="0.0001677000"
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izz="0.0001834000"
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ixy="-0.0000229200"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="wrist_angle" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="5"
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lower="-1.7453292519943295"
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upper="2.1467549799530254"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0.075 0 0"/>
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<parent
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link="wx250s_custom/lower_forearm_link"/>
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<child
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link="wx250s_custom/wrist_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/wrist_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/wrist.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/wrist.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0.0423600000 -0.0000106630 0.0105770000"/>
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<mass value="0.084957"/>
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<inertia
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ixx="0.0000308200"
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iyy="0.0000282200"
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izz="0.0000315200"
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ixy="0.0000000191"
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ixz="0.0000000023"
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iyz="0.0000025481"/>
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</inertial>
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</link>
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<!-- Include the gripper if used -->
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<joint name="wrist_rotate" type="revolute">
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<axis xyz="1 0 0"/>
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<limit
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effort="1"
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lower="-3.141582653589793"
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upper="3.141582653589793"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0.065 0 0"/>
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<parent
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link="wx250s_custom/wrist_link"/>
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<child
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link="wx250s_custom/gripper_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/gripper_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="-0.02 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/gripper.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="-0.02 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/gripper.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="0.0216310000 0.0000002516 0.0114100000"/>
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<mass value="0.072885"/>
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<inertia
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ixx="0.0000253700"
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iyy="0.0000183600"
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izz="0.0000167400"
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ixy="0.0000000000"
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ixz="0.0000000000"
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iyz="0.0000004340"/>
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</inertial>
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</link>
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<joint name="ee_arm" type="fixed">
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<axis xyz="1 0 0"/>
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<origin
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rpy="0 0 0"
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xyz="0.043 0 0"/>
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<parent
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link="wx250s_custom/gripper_link"/>
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<child
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link="wx250s_custom/ee_arm_link"/>
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</joint>
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<link name="wx250s_custom/ee_arm_link">
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<inertial>
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<mass value="0.001"/>
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<inertia
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ixx="0.001"
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iyy="0.001"
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izz="0.001"
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ixy="0"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="gripper" type="continuous">
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<axis xyz="1 0 0"/>
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<limit
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effort="1"
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velocity="3.141592653589793"/>
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<origin
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rpy="0 0 0"
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xyz="0.0055 0 0"/>
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<parent
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link="wx250s_custom/ee_arm_link"/>
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<child
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link="wx250s_custom/gripper_prop_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="wx250s_custom/gripper_prop_link">
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<visual>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="-0.0685 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/gripper_prop.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 1.5707963267948966"
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xyz="-0.0685 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/gripper_prop.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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||||
rpy="0 0 1.5707963267948966"
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xyz="0.0008460000 -0.0000016817 0.0000420000"/>
|
||||
<mass value="0.00434"/>
|
||||
<inertia
|
||||
ixx="0.0000005923"
|
||||
iyy="0.0000011156"
|
||||
izz="0.0000005743"
|
||||
ixy="0.0000000000"
|
||||
ixz="0.0000003195"
|
||||
iyz="-0.0000000004"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- If the AR tag is being used, then add the AR tag mount -->
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- If the gripper bar is being used, then also add the gripper bar -->
|
||||
|
||||
|
||||
|
||||
<joint name="gripper_bar" type="fixed">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<parent
|
||||
link="wx250s_custom/ee_arm_link"/>
|
||||
<child
|
||||
link="wx250s_custom/gripper_bar_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="wx250s_custom/gripper_bar_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 1.5707963267948966"
|
||||
xyz="-0.063 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_bar.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 1.5707963267948966"
|
||||
xyz="-0.063 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_bar.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 1.5707963267948966"
|
||||
xyz="0.0096870000 0.0000008177 0.0049620000"/>
|
||||
<mass value="0.034199"/>
|
||||
<inertia
|
||||
ixx="0.0000074125"
|
||||
iyy="0.0000284300"
|
||||
izz="0.0000286000"
|
||||
ixy="-0.0000000008"
|
||||
ixz="-0.0000000006"
|
||||
iyz="-0.0000013889"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="ee_bar" type="fixed">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.023 0 0"/>
|
||||
<parent
|
||||
link="wx250s_custom/gripper_bar_link"/>
|
||||
<child
|
||||
link="wx250s_custom/fingers_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="wx250s_custom/fingers_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<inertia
|
||||
ixx="0.001"
|
||||
iyy="0.001"
|
||||
izz="0.001"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- If the gripper fingers are being used, add those as well -->
|
||||
|
||||
|
||||
|
||||
<joint name="left_finger" type="prismatic">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit
|
||||
effort="5"
|
||||
lower="0.015"
|
||||
upper="0.037"
|
||||
velocity="1"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<parent
|
||||
link="wx250s_custom/fingers_link"/>
|
||||
<child
|
||||
link="wx250s_custom/left_finger_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wx250s_custom/left_finger_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="3.141592653589793 3.141592653589793 0"
|
||||
xyz="0 0.005 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_finger.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="3.141592653589793 3.141592653589793 0"
|
||||
xyz="0 0.005 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_finger.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="3.141592653589793 3.141592653589793 1.5707963267948966"
|
||||
xyz="0.0138160000 0.0000000000 0.0000000000"/>
|
||||
<mass value="0.016246"/>
|
||||
<inertia
|
||||
ixx="0.0000047310"
|
||||
iyy="0.0000015506"
|
||||
izz="0.0000037467"
|
||||
ixy="-0.0000004560"
|
||||
ixz="0.0000000000"
|
||||
iyz="0.0000000000"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_finger" type="prismatic">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit
|
||||
effort="5"
|
||||
lower="-0.037"
|
||||
upper="-0.015"
|
||||
velocity="1"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<parent
|
||||
link="wx250s_custom/fingers_link"/>
|
||||
<child
|
||||
link="wx250s_custom/right_finger_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
|
||||
<mimic
|
||||
joint="left_finger"
|
||||
multiplier="-1"
|
||||
offset="0"/>
|
||||
|
||||
</joint>
|
||||
|
||||
<link name="wx250s_custom/right_finger_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 3.141592653589793 0"
|
||||
xyz="0 -0.005 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_finger.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 3.141592653589793 0"
|
||||
xyz="0 -0.005 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/gripper_finger.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 3.141592653589793 1.5707963267948966"
|
||||
xyz="0.0138160000 0.0000000000 0.0000000000"/>
|
||||
<mass value="0.016246"/>
|
||||
<inertia
|
||||
ixx="0.0000047310"
|
||||
iyy="0.0000015506"
|
||||
izz="0.0000037467"
|
||||
ixy="0.0000004560"
|
||||
ixz="0.0000000000"
|
||||
iyz="0.0000000000"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="ee_gripper" type="fixed">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.128 0 0"/>
|
||||
<parent
|
||||
link="wx250s_custom/fingers_link"/>
|
||||
<child
|
||||
link="wx250s_custom/ee_gripper_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="wx250s_custom/ee_gripper_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<inertia
|
||||
ixx="0.001"
|
||||
iyy="0.001"
|
||||
izz="0.001"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
501
wx250s_custom/wx250s_custom.urdf.xacro
Normal file
501
wx250s_custom/wx250s_custom.urdf.xacro
Normal file
@ -0,0 +1,501 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="wx250s_custom" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:property name="robot_model"
|
||||
value="wx250s_custom"
|
||||
scope="global"/>
|
||||
<xacro:property name="dof"
|
||||
value="6"
|
||||
scope="global"/>
|
||||
|
||||
<xacro:arg name="robot_name" default="${robot_model}"/>
|
||||
<xacro:arg name="base_link_frame" default="base_link"/>
|
||||
<xacro:arg name="use_world_frame" default="true"/>
|
||||
<xacro:arg name="external_urdf_loc" default=""/>
|
||||
<xacro:arg name="hardware_type" default="actual"/>
|
||||
|
||||
<xacro:property name="mesh_directory" value="package://interbotix_xsarm_descriptions/meshes/${robot_model}_meshes"/>
|
||||
<xacro:property name="urdf_loc" value="$(arg external_urdf_loc)"/>
|
||||
<xacro:property name="hardware_type" value="$(arg hardware_type)"/>
|
||||
<xacro:property name="pi_offset" value="0.00001"/>
|
||||
|
||||
<xacro:property name="waist_limit_effort" value="10"/>
|
||||
<xacro:property name="waist_limit_lower" value="${-pi + pi_offset}"/>
|
||||
<xacro:property name="waist_limit_upper" value="${pi - pi_offset}"/>
|
||||
<xacro:property name="waist_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="shoulder_limit_effort" value="100"/><!-- 20 -->
|
||||
<xacro:property name="shoulder_limit_lower" value="${radians(-108)}"/>
|
||||
<xacro:property name="shoulder_limit_upper" value="${radians(114)}"/>
|
||||
<xacro:property name="shoulder_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="elbow_limit_effort" value="15"/>
|
||||
<xacro:property name="elbow_limit_lower" value="${radians(-123)}"/>
|
||||
<xacro:property name="elbow_limit_upper" value="${radians(92)}"/>
|
||||
<xacro:property name="elbow_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="forearm_roll_limit_effort" value="2"/>
|
||||
<xacro:property name="forearm_roll_limit_lower" value="${-pi + pi_offset}"/>
|
||||
<xacro:property name="forearm_roll_limit_upper" value="${pi - pi_offset}"/>
|
||||
<xacro:property name="forearm_roll_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="wrist_angle_limit_effort" value="5"/>
|
||||
<xacro:property name="wrist_angle_limit_lower" value="${radians(-100)}"/>
|
||||
<xacro:property name="wrist_angle_limit_upper" value="${radians(123)}"/>
|
||||
<xacro:property name="wrist_angle_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="wrist_rotate_limit_effort" value="1"/>
|
||||
<xacro:property name="wrist_rotate_limit_lower" value="${-pi + pi_offset}"/>
|
||||
<xacro:property name="wrist_rotate_limit_upper" value="${pi - pi_offset}"/>
|
||||
<xacro:property name="wrist_rotate_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="gripper_limit_vel" value="${pi}"/>
|
||||
|
||||
<xacro:property name="finger_limit_effort" value="5"/>
|
||||
<xacro:property name="finger_limit_lower" value="0.015"/>
|
||||
<xacro:property name="finger_limit_upper" value="0.037"/>
|
||||
<xacro:property name="finger_limit_vel" value="1"/>
|
||||
|
||||
<material name="interbotix_black">
|
||||
<texture filename="package://interbotix_xsarm_descriptions/meshes/interbotix_black.png"/>
|
||||
</material>
|
||||
|
||||
<xacro:if value="$(arg use_world_frame)">
|
||||
<link name="world"/>
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent
|
||||
link="world"/>
|
||||
<child
|
||||
link="$(arg robot_name)/$(arg base_link_frame)"/>
|
||||
</joint>
|
||||
</xacro:if> <!-- use_world_frame -->
|
||||
|
||||
<link name="$(arg robot_name)/$(arg base_link_frame)">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/base.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/base.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="-0.0380446000 0.0006138920 0.0193354000"/>
|
||||
<mass value="0.538736"/>
|
||||
<inertia
|
||||
ixx="0.0021150000"
|
||||
iyy="0.0006921000"
|
||||
izz="0.0025240000"
|
||||
ixy="-0.0000163500"
|
||||
ixz="0.0000006998"
|
||||
iyz="0.0000464200"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="waist" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${waist_limit_effort}"
|
||||
lower="${waist_limit_lower}"
|
||||
upper="${waist_limit_upper}"
|
||||
velocity="${waist_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0.072"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/$(arg base_link_frame)"/>
|
||||
<child
|
||||
link="$(arg robot_name)/shoulder_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/shoulder_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 -0.003"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/shoulder.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 -0.003"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/shoulder.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.0000223482 0.0000414609 0.0066287000"/>
|
||||
<mass value="0.480879"/>
|
||||
<inertia
|
||||
ixx="0.0003790000"
|
||||
iyy="0.0005557000"
|
||||
izz="0.0005889000"
|
||||
ixy="0.0000000022"
|
||||
ixz="-0.0000003561"
|
||||
iyz="0.0000012245"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="shoulder" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit
|
||||
effort="${shoulder_limit_effort}"
|
||||
lower="${shoulder_limit_lower}"
|
||||
upper="${shoulder_limit_upper}"
|
||||
velocity="${shoulder_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0.03865"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/shoulder_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/upper_arm_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/upper_arm_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/upper_arm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/upper_arm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.0171605000 0.0000002725 0.1913230000"/>
|
||||
<mass value="0.430811"/>
|
||||
<inertia
|
||||
ixx="0.0034630000"
|
||||
iyy="0.0035870000"
|
||||
izz="0.0004566000"
|
||||
ixy="-0.0000000001"
|
||||
ixz="-0.0000000002"
|
||||
iyz="0.0004272000"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="elbow" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit
|
||||
effort="${elbow_limit_effort}"
|
||||
lower="${elbow_limit_lower}"
|
||||
upper="${elbow_limit_upper}"
|
||||
velocity="${elbow_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.04975 0 0.25"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/upper_arm_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/upper_forearm_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/upper_forearm_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/upper_forearm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/upper_forearm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.1079630000 0.0001158760 0"/>
|
||||
<mass value="0.234589"/>
|
||||
<inertia
|
||||
ixx="0.0000397100"
|
||||
iyy="0.0008878000"
|
||||
izz="0.0008880000"
|
||||
ixy="0.0000023528"
|
||||
ixz="0"
|
||||
iyz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="forearm_roll" type="revolute">
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${forearm_roll_limit_effort}"
|
||||
lower="${forearm_roll_limit_lower}"
|
||||
upper="${forearm_roll_limit_upper}"
|
||||
velocity="${forearm_roll_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.175 0 0"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/upper_forearm_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/lower_forearm_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/lower_forearm_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="${pi} 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/lower_forearm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="${pi} 0 0"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/lower_forearm.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="${pi} 0 0"
|
||||
xyz="0.0374395000 0.0052225200 0"/>
|
||||
<mass value="0.220991"/>
|
||||
<inertia
|
||||
ixx="0.0000636900"
|
||||
iyy="0.0001677000"
|
||||
izz="0.0001834000"
|
||||
ixy="-0.0000229200"
|
||||
ixz="0"
|
||||
iyz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wrist_angle" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit
|
||||
effort="${wrist_angle_limit_effort}"
|
||||
lower="${wrist_angle_limit_lower}"
|
||||
upper="${wrist_angle_limit_upper}"
|
||||
velocity="${wrist_angle_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.075 0 0"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/lower_forearm_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/wrist_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/wrist_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/wrist.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/wrist.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.0423600000 -0.0000106630 0.0105770000"/>
|
||||
<mass value="0.084957"/>
|
||||
<inertia
|
||||
ixx="0.0000308200"
|
||||
iyy="0.0000282200"
|
||||
izz="0.0000315200"
|
||||
ixy="0.0000000191"
|
||||
ixz="0.0000000023"
|
||||
iyz="0.0000025481"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wrist_rotate" type="revolute">
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${wrist_rotate_limit_effort}"
|
||||
lower="${wrist_rotate_limit_lower}"
|
||||
upper="${wrist_rotate_limit_upper}"
|
||||
velocity="${wrist_rotate_limit_vel}"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.065 0 0"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/wrist_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/sma_attach_link"/>
|
||||
<dynamics
|
||||
friction="0.1"
|
||||
damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/sma_attach_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.007 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/attach.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="interbotix_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.007 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/attach.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0.0216310000 0.0000002516 0.0114100000"/>
|
||||
<mass value="0.072885"/>
|
||||
<inertia
|
||||
ixx="0.0000253700"
|
||||
iyy="0.0000183600"
|
||||
izz="0.0000167400"
|
||||
ixy="0.0000000000"
|
||||
ixz="0.0000000000"
|
||||
iyz="0.0000004340"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="sma" type="fixed">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin
|
||||
rpy="0 0 0"
|
||||
xyz="0.128 0 0"/>
|
||||
<parent
|
||||
link="$(arg robot_name)/sma_attach_link"/>
|
||||
<child
|
||||
link="$(arg robot_name)/sma_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="$(arg robot_name)/sma_link">
|
||||
<visual>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/sma.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
rpy="0 0 ${pi/2}"
|
||||
xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_directory}/sma.stl"
|
||||
scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="0.001"
|
||||
iyy="0.001"
|
||||
izz="0.001"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:include filename="$(find interbotix_xsarm_descriptions)/urdf/control.urdf.xacro"/>
|
||||
<xacro:include filename="$(find interbotix_xsarm_descriptions)/urdf/gazebo_configs.urdf.xacro"/>
|
||||
|
||||
<xacro:if value="${hardware_type == 'gz_classic'}">
|
||||
<xacro:gazebo_configs/>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="${urdf_loc != ''}">
|
||||
<xacro:include filename="${urdf_loc}"/>
|
||||
</xacro:if>
|
||||
|
||||
</robot>
|
||||
104
wx250s_custom/wx250s_custom.yaml
Normal file
104
wx250s_custom/wx250s_custom.yaml
Normal file
@ -0,0 +1,104 @@
|
||||
port: /dev/ttyDXL
|
||||
|
||||
joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
|
||||
sleep_positions: [0, -1.80, 1.55, 0, 0.8, 0]
|
||||
|
||||
joint_state_publisher:
|
||||
update_rate: 100
|
||||
publish_states: true
|
||||
topic_name: joint_states
|
||||
|
||||
groups:
|
||||
arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
|
||||
|
||||
shadows:
|
||||
shoulder:
|
||||
shadow_list: [shoulder_shadow]
|
||||
calibrate: true
|
||||
elbow:
|
||||
shadow_list: [elbow_shadow]
|
||||
calibrate: true
|
||||
|
||||
sisters:
|
||||
|
||||
motors:
|
||||
waist:
|
||||
ID: 1
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 0
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 0
|
||||
Max_Position_Limit: 4095
|
||||
Secondary_ID: 255
|
||||
|
||||
shoulder:
|
||||
ID: 2
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 0
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 819
|
||||
Max_Position_Limit: 3345
|
||||
Secondary_ID: 255
|
||||
|
||||
shoulder_shadow:
|
||||
ID: 3
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 1
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 819
|
||||
Max_Position_Limit: 3345
|
||||
Secondary_ID: 2
|
||||
|
||||
elbow:
|
||||
ID: 4
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 0
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 648
|
||||
Max_Position_Limit: 3094
|
||||
Secondary_ID: 255
|
||||
|
||||
elbow_shadow:
|
||||
ID: 5
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 1
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 648
|
||||
Max_Position_Limit: 3094
|
||||
Secondary_ID: 4
|
||||
|
||||
forearm_roll:
|
||||
ID: 6
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 0
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 0
|
||||
Max_Position_Limit: 4095
|
||||
Secondary_ID: 255
|
||||
|
||||
wrist_angle:
|
||||
ID: 7
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 1
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 910
|
||||
Max_Position_Limit: 3447
|
||||
Secondary_ID: 255
|
||||
|
||||
wrist_rotate:
|
||||
ID: 8
|
||||
Baud_Rate: 3
|
||||
Return_Delay_Time: 0
|
||||
Drive_Mode: 0
|
||||
Velocity_Limit: 131
|
||||
Min_Position_Limit: 0
|
||||
Max_Position_Limit: 4095
|
||||
Secondary_ID: 255
|
||||
|
||||
@ -2,6 +2,8 @@ include <../cad/threads.scad>;
|
||||
|
||||
$fn=128;
|
||||
|
||||
rotate([90,0,0])
|
||||
translate([-28.5/2,-46.5/2+11,0])
|
||||
difference(){
|
||||
union(){
|
||||
linear_extrude(4)
|
||||
|
||||
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/attach.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/attach.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/base.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/base.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/lower_forearm.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/lower_forearm.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/shoulder.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/shoulder.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/sma.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/sma.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/upper_arm.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/upper_arm.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/upper_forearm.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/upper_forearm.stl
Normal file
Binary file not shown.
BIN
wx250s_custom/wx250s_custom_meshes/wrist.stl
Normal file
BIN
wx250s_custom/wx250s_custom_meshes/wrist.stl
Normal file
Binary file not shown.
88
wx250s_custom/xs_common.py
Normal file
88
wx250s_custom/xs_common.py
Normal file
@ -0,0 +1,88 @@
|
||||
# Copyright 2022 Trossen Robotics
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
#
|
||||
# * Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in the
|
||||
# documentation and/or other materials provided with the distribution.
|
||||
#
|
||||
# * Neither the name of the copyright holder nor the names of its
|
||||
# contributors may be used to endorse or promote products derived from
|
||||
# this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
from typing import List, Tuple
|
||||
|
||||
# Tuple of valid Interbotix X-Series arm models
|
||||
_XSARM_MODELS = (
|
||||
'px100',
|
||||
'px150',
|
||||
'rx150',
|
||||
'rx200',
|
||||
'wx200',
|
||||
'wx250',
|
||||
'wx250s',
|
||||
'wx250s_custom',
|
||||
'vx250',
|
||||
'vx300',
|
||||
'vx300s',
|
||||
'mobile_px100',
|
||||
'mobile_wx200',
|
||||
'mobile_wx250s',
|
||||
)
|
||||
|
||||
# Tuple of valid Interbotix LoCoBot models
|
||||
_XSLOCOBOT_MODELS = (
|
||||
'locobot_base',
|
||||
'locobot_px100',
|
||||
'locobot_wx200',
|
||||
'locobot_wx250s',
|
||||
)
|
||||
|
||||
|
||||
def get_interbotix_xsarm_models() -> Tuple[str]:
|
||||
"""Get the tuple of valid Interbotix X-Series arm models."""
|
||||
return _XSARM_MODELS
|
||||
|
||||
|
||||
def get_interbotix_xslocobot_models() -> Tuple[str]:
|
||||
"""Get the tuple of valid Interbotix LoCoBot models."""
|
||||
return _XSLOCOBOT_MODELS
|
||||
|
||||
|
||||
def get_interbotix_xsarm_joints(robot_model: str) -> List[str]:
|
||||
"""
|
||||
Return a list of joints in the robot_model.
|
||||
|
||||
:param robot_model: The robot model to get the joints of
|
||||
:return: A list of joint names of the given robot model
|
||||
:raises: KeyError if the robot model is not valid
|
||||
"""
|
||||
if robot_model in ('mobile_px100', 'px100'):
|
||||
return ['waist', 'shoulder', 'elbow', 'wrist_angle', 'left_finger']
|
||||
elif robot_model in ('px150', 'rx150', 'rx200', 'wx200', 'wx250', 'vx250', 'vx300'):
|
||||
return ['waist', 'shoulder', 'elbow', 'wrist_angle', 'wrist_rotate', 'left_finger']
|
||||
elif robot_model in ('wx250s_custom'):
|
||||
return ['waist', 'shoulder', 'elbow', 'forearm_roll', 'wrist_angle', 'wrist_rotate']
|
||||
elif robot_model in ('mobile_wx250s', 'wx250s', 'vx300s'):
|
||||
return [
|
||||
'waist', 'shoulder', 'elbow', 'forearm_roll',
|
||||
'wrist_angle', 'wrist_rotate', 'left_finger'
|
||||
]
|
||||
else:
|
||||
raise KeyError(f'{robot_model} is not a valid robot model.')
|
||||
Loading…
Reference in New Issue
Block a user