README.md

@@ -50,18 +50,9 @@ By default, it allows to hold a M6 threaded rod aligned with the wrist rotation
 according to your needs.
 
 ### Software modifications
-Once the Hardware modification has been completed, several files need to be updated in interbotix packages to use the new arm, named `ẁx250s_custom`. To do so, run the `install.sh` script as follows:
+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:
-./install.sh
+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/`.
-The script ask several infos to update the interbotix packages files. Also, the kinematics matrices `M` and `Slist` are computed. These matrices are needed by the Python API which will drive the robotic arm.
+3. Open the file `wx250s_custom.urdf.xacro`
 
-
-```
-ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=wx250s_custom use_joint_pub_gui:=true
-```
-You should see this:
-
-![Alt text](wx250s_custom/rviz.png)
-
-### 

wx250s_custom/install.sh

@@ -1,50 +0,0 @@
-#!/bin/bash 
-
-# Tweak the default interbotix_ws install to add a customized robot wx250s_custom
-
-read -p "Enter the interbotix packages installation path [default: ~/interbotix_ws]:" DIR
-DIR=${DIR:-~/interbotix_ws}
-
-cp xs_common.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_common/"
-cp wx250s_custom.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
-cp -r wx250s_custom_meshes "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/"
-
-VAR=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
-VAR=`awk -F'"' '{print $2}' <<< $VAR`
-
-read -p "Enter the coordinate between wrist_rotate joint and SMA center in m [default: ${VAR}]:" COORD
-COORD=${COORD:-${VAR}}
-
-cp wx250s_custom.urdf.xacro wx250s_custom.urdf.xacro~
-
-sed -i "451s/$VAR/$COORD/" wx250s_custom.urdf.xacro~
-
-# convert to urdf file needed for kinematic_from_description package
-ros2 run xacro xacro wx250s_custom.urdf.xacro~ > out.urdf
-
-# move the urdf.xacro file
-mv wx250s_custom.urdf.xacro~ "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/wx250s_custom.urdf.xacro"
-
-#
-git clone https://github.com/Interbotix/kinematics_from_description.git
-cd kinematics_from_description
-python setup.py install --user
-cd ..
-rm -rf kinematics_from_description
-
-cp mr_descriptions.py mr_descriptions.py~
-
-python kinematics.py
-
-mv mr_descriptions.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/"
-
-mv mr_descriptions.py~ mr_descriptions.py
-
-rm out.urdf
-
-cd $DIR
-
-rm -rf build
-rm -rf install
-
-colcon build

wx250s_custom/kinematics.py

@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-Created on Fri Apr  7 15:38:46 2023
-
-@author: Pierre Lecomte
-"""
-import numpy as np
-from kinematics_from_description.kfd import KinematicsFromDescriptionTool as KFD
-
-tool = KFD(
-            {
-                "body_frame": "sma_link",
-                "space_frame": "base_link",
-                "namespace": "wx250s_custom",
-            }            
-            )
-
-tool.load_desc_from_file('out.urdf')
-tool.run()
-
-print("Slist:")
-print(tool.Slist.T)
-
-print("M:")
-print(tool.M)
-
-x = f"""class wx250s_custom(ModernRoboticsDescription):
-    Slist = np.array(
-        {np.array2string(tool.Slist.T, separator=',')}
-        ).T
-
-    M = np.array({np.array2string(tool.M, separator=',')})
-    """
-
-with open("mr_descriptions.py","a") as f:
-    f.writelines(x)

wx250s_custom/matrices.txt

@@ -1,12 +0,0 @@
-Slist:
-[[ 0.       0.       1.       0.       0.       0.     ]
- [ 0.       1.       0.      -0.11065  0.       0.     ]
- [ 0.       1.       0.      -0.36065  0.       0.04975]
- [ 1.       0.       0.       0.       0.36065  0.     ]
- [ 0.       1.       0.      -0.36065  0.       0.29975]
- [ 1.       0.       0.       0.       0.36065  0.     ]]
-M:
-[[1.      0.      0.      0.49275]
- [0.      1.      0.      0.     ]
- [0.      0.      1.      0.36065]
- [0.      0.      0.      1.     ]]

wx250s_custom/mr_descriptions.py

@@ -1,233 +0,0 @@
-# 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.
-
-"""
-Modern Robotics Descriptions for all Interbotix X-Series Arms.
-
-This module contains properties required by the Modern Robotics library to perform
-kinematic calculations such as the Joint Screw Axes and Home Configuration for each
-X-Series robot.
-
-Note that the end-effector is positioned at '<robot_name>/ee_gripper_link' and that the
-Space frame is positioned at '<robot_name>/base_link'.
-
-To calculate your own MR Description, check out the kinematics_from_description package:
-    https://github.com/Interbotix/kinematics_from_description
-"""
-
-from abc import ABC
-
-import numpy as np
-
-
-class ModernRoboticsDescription(ABC):
-    """
-    Abstract base class for other MR Description classes.
-
-    Derived classes should override the Slist and M member variables.
-    """
-
-    Slist: np.ndarray = None
-    """
-    Joint screw axes in the space frame when the manipulator is at the home position, in the format
-    of a matrix with axes as the columns
-    """
-
-    M: np.ndarray = None
-    """The home configuration (position and orientation) of the end-effector"""
-
-
-class px100(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,    0.0, 0.0],
-                      [0.0, 1.0, 0.0, -0.0931, 0.0, 0.0],
-                      [0.0, 1.0, 0.0, -0.1931, 0.0, 0.035],
-                      [0.0, 1.0, 0.0, -0.1931, 0.0, 0.135]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.248575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.1931],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class px150(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.05],
-                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.2],
-                      [1.0, 0.0, 0.0,  0.0,     0.25457, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.358575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.25457],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class rx150(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.05],
-                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.2],
-                      [1.0, 0.0, 0.0,  0.0,     0.25457, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.358575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.25457],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class rx200(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.30457, 0.0,     0.05],
-                      [0.0, 1.0, 0.0, -0.30457, 0.0,     0.25],
-                      [1.0, 0.0, 0.0,  0.0,     0.30457, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.408575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.30457],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class vx250(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.37705, 0.0,     0.06],
-                      [0.0, 1.0, 0.0, -0.37705, 0.0,     0.31],
-                      [1.0, 0.0, 0.0,  0.0,     0.37705, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.468575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.37705],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class vx300(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.05955],
-                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.35955],
-                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.536494],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.42705],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class vx300s(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.05955],
-                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0],
-                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.35955],
-                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.536494],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.42705],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class wx200(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.31065, 0.0,     0.05],
-                      [0.0, 1.0, 0.0, -0.31065, 0.0,     0.25],
-                      [1.0, 0.0, 0.0,  0.0,     0.31065, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.408575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.31065],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class wx250(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.04975],
-                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.29975],
-                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.458325],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.36065],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class wx250s(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
-                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.04975],
-                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0],
-                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.29975],
-                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.458325],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.36065],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class mobile_px100(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0, 0.0],
-                      [0.0, 1.0, 0.0, -0.08518, 0.0, 0.0],
-                      [0.0, 1.0, 0.0, -0.18518, 0.0, 0.035],
-                      [0.0, 1.0, 0.0, -0.18518, 0.0, 0.135]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.248575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.18518],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class mobile_wx200(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,      0.0,      0.0],
-                      [0.0, 1.0, 0.0, -0.104825, 0.0,      0.0],
-                      [0.0, 1.0, 0.0, -0.304825, 0.0,      0.05],
-                      [0.0, 1.0, 0.0, -0.304825, 0.0,      0.25],
-                      [1.0, 0.0, 0.0,  0.0,      0.304825, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.408575],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.304825],
-                  [0.0, 0.0, 0.0, 1.0]])
-
-
-class mobile_wx250s(ModernRoboticsDescription):
-    Slist = np.array([[0.0, 0.0, 1.0,  0.0,      0.0,      0.0],
-                      [0.0, 1.0, 0.0, -0.104825, 0.0,      0.0],
-                      [0.0, 1.0, 0.0, -0.354825, 0.0,      0.04975],
-                      [1.0, 0.0, 0.0,  0.0,      0.354825, 0.0],
-                      [0.0, 1.0, 0.0, -0.354825, 0.0,      0.29975],
-                      [1.0, 0.0, 0.0,  0.0,      0.354825, 0.0]]).T
-
-    M = np.array([[1.0, 0.0, 0.0, 0.458325],
-                  [0.0, 1.0, 0.0, 0.0],
-                  [0.0, 0.0, 1.0, 0.354825],
-                  [0.0, 0.0, 0.0, 1.0]])
-

wx250s_custom/wx250s_custom.urdf.xacro

@@ -1,499 +0,0 @@
-<?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="${robot_model}"/>
-  <xacro:arg name="base_link_frame"                 default="base_link"/>
-  <xacro:arg name="use_world_frame"                 default="true"/>
-  <xacro:arg name="use_gripper"                     default="false"/>
-  <xacro:arg name="external_urdf_loc"               default=""/>
-  <xacro:arg name="hardware_type"                   default="actual"/>
-
-  <xacro:property name="mesh_directory"             value="package://interbotix_xsarm_descriptions/meshes/${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:if value="${hardware_type == 'gz_classic'}">
-    <xacro:gazebo_configs/>
-  </xacro:if>
-
-  <xacro:if value="${urdf_loc != ''}">
-    <xacro:include filename="${urdf_loc}"/>
-  </xacro:if>
-
-</robot>

wx250s_custom/wx250s_custom.yaml

@@ -1,104 +0,0 @@
-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
- 

wx250s_custom/wx250s_custom_attach.scad

@@ -2,8 +2,6 @@ include <../cad/threads.scad>;
 
 $fn=128;
 
-rotate([90,0,0])
-translate([-28.5/2,-46.5/2+11,0])
 difference(){
 union(){
 linear_extrude(4)

wx250s_custom/xs_common.py

@@ -1,88 +0,0 @@
-# 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.')