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update README.md

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Pierre Lecomte 2023-06-29 18:01:30 +02:00
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@ -46,8 +46,13 @@ All the necessary files are in the folder [/wx250s_custom](http://sekisushai.net
### Hardware modifications
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)
By default, it allows to hold a M6 threaded rod aligned with the wrist rotation axis. The SMA is to be mounted on this rod. 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
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.
The default arm name is `wx250s` and one will create a new arm configuration `wx250s_custom`. To do so:
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).
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/`.
3. Open the file `wx250s_custom.urdf.xacro`