From c821a6065173ddf72b34129336fedfd194259f78 Mon Sep 17 00:00:00 2001 From: Pierre Lecomte Date: Thu, 29 Jun 2023 18:01:30 +0200 Subject: [PATCH] update README.md --- README.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index b52ebf2..ab1418b 100644 --- a/README.md +++ b/README.md @@ -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` +