From 672e7ec7d9b3c9b035f954a7a7eef1d92a6969bd Mon Sep 17 00:00:00 2001 From: Pierre Lecomte Date: Thu, 29 Jun 2023 17:28:26 +0200 Subject: [PATCH] reorganize folder for robot customization --- README.md | 6 ++++-- .../wx250s_custom_attach.scad | 2 +- .../wx250s_custom_attach.stl | Bin 3 files changed, 5 insertions(+), 3 deletions(-) rename cad/robotic_arm_attach.scad => wx250s_custom/wx250s_custom_attach.scad (95%) rename cad/robotic_arm_attach.stl => wx250s_custom/wx250s_custom_attach.stl (100%) diff --git a/README.md b/README.md index 956d8e6..b52ebf2 100644 --- a/README.md +++ b/README.md @@ -42,10 +42,12 @@ Currently, the Humble distribution is used. For the task of SMA calibration, the robotic arm is modified in the following way: 1. The gripper is removed and replaced with a 3D printed part holding a threaded rod, 2. The robot description files for ROS are modified accordingly. +All the necessary files are in the folder [/wx250s_custom](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/). ### Hardware modifications -The arm gripper is removed with its servo. A 3D printed part, available at [/cad/robotic_arm_attach.stl](http://sekisushai.net/git/sekisushai/small/src/branch/master/cad/robotic_arm_attach.stl), is mounted in place of the gripper servo. -By default, it allows to hold a M6 threaded rod aligned with the forearm axis. You can modify this part from the openSCAD file [/cad/robotic_arm_attach.scad](http://sekisushai.net/git/sekisushai/small/src/branch/master/cad/robotic_arm_attach.scad) +The arm gripper is removed with its servo. A 3D printed part, available at [/wx250s_custom/wx250s_custom_attach.stl](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/wx250s_custom_attach.stl), is mounted in place of the gripper servo. +By default, it allows to hold a M6 threaded rod aligned with the wrist rotation axis. You can modify this part from the openSCAD file [/cad/wx250s_custom_attach.scad](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/wx250s_custom_attach.scad) according to your needs. +The distance between the wrist ### Software modifications diff --git a/cad/robotic_arm_attach.scad b/wx250s_custom/wx250s_custom_attach.scad similarity index 95% rename from cad/robotic_arm_attach.scad rename to wx250s_custom/wx250s_custom_attach.scad index 20ea7be..521470f 100644 --- a/cad/robotic_arm_attach.scad +++ b/wx250s_custom/wx250s_custom_attach.scad @@ -1,4 +1,4 @@ -include ; +include <../cad/threads.scad>; $fn=128; diff --git a/cad/robotic_arm_attach.stl b/wx250s_custom/wx250s_custom_attach.stl similarity index 100% rename from cad/robotic_arm_attach.stl rename to wx250s_custom/wx250s_custom_attach.stl