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README.md
19
README.md
@ -50,18 +50,9 @@ By default, it allows to hold a M6 threaded rod aligned with the wrist rotation
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according to your needs.
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### Software modifications
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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:
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```
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./install.sh
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```
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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.
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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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```
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ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=wx250s_custom use_joint_pub_gui:=true
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```
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You should see this:
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###
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Binary file not shown.
@ -1,50 +0,0 @@
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#!/bin/bash
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# Tweak the default interbotix_ws install to add a customized robot wx250s_custom
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read -p "Enter the interbotix packages installation path [default: ~/interbotix_ws]:" DIR
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DIR=${DIR:-~/interbotix_ws}
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cp xs_common.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_common/"
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cp wx250s_custom.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
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cp -r wx250s_custom_meshes "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/"
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VAR=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
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VAR=`awk -F'"' '{print $2}' <<< $VAR`
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read -p "Enter the coordinate between wrist_rotate joint and SMA center in m [default: ${VAR}]:" COORD
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COORD=${COORD:-${VAR}}
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cp wx250s_custom.urdf.xacro wx250s_custom.urdf.xacro~
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sed -i "451s/$VAR/$COORD/" wx250s_custom.urdf.xacro~
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# convert to urdf file needed for kinematic_from_description package
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ros2 run xacro xacro wx250s_custom.urdf.xacro~ > out.urdf
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# move the urdf.xacro file
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mv wx250s_custom.urdf.xacro~ "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/wx250s_custom.urdf.xacro"
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#
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git clone https://github.com/Interbotix/kinematics_from_description.git
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cd kinematics_from_description
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python setup.py install --user
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cd ..
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rm -rf kinematics_from_description
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cp mr_descriptions.py mr_descriptions.py~
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python kinematics.py
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mv mr_descriptions.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/"
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mv mr_descriptions.py~ mr_descriptions.py
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rm out.urdf
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cd $DIR
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rm -rf build
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rm -rf install
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colcon build
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@ -1,37 +0,0 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Created on Fri Apr 7 15:38:46 2023
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@author: Pierre Lecomte
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"""
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import numpy as np
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from kinematics_from_description.kfd import KinematicsFromDescriptionTool as KFD
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tool = KFD(
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{
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"body_frame": "sma_link",
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"space_frame": "base_link",
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"namespace": "wx250s_custom",
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}
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)
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tool.load_desc_from_file('out.urdf')
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tool.run()
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print("Slist:")
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print(tool.Slist.T)
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print("M:")
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print(tool.M)
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x = f"""class wx250s_custom(ModernRoboticsDescription):
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Slist = np.array(
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{np.array2string(tool.Slist.T, separator=',')}
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).T
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M = np.array({np.array2string(tool.M, separator=',')})
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"""
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with open("mr_descriptions.py","a") as f:
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f.writelines(x)
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@ -1,12 +0,0 @@
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Slist:
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[[ 0. 0. 1. 0. 0. 0. ]
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[ 0. 1. 0. -0.11065 0. 0. ]
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[ 0. 1. 0. -0.36065 0. 0.04975]
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[ 1. 0. 0. 0. 0.36065 0. ]
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[ 0. 1. 0. -0.36065 0. 0.29975]
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[ 1. 0. 0. 0. 0.36065 0. ]]
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M:
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[[1. 0. 0. 0.49275]
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[0. 1. 0. 0. ]
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[0. 0. 1. 0.36065]
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[0. 0. 0. 1. ]]
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@ -1,233 +0,0 @@
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# Copyright 2022 Trossen Robotics
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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"""
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Modern Robotics Descriptions for all Interbotix X-Series Arms.
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This module contains properties required by the Modern Robotics library to perform
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kinematic calculations such as the Joint Screw Axes and Home Configuration for each
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X-Series robot.
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Note that the end-effector is positioned at '<robot_name>/ee_gripper_link' and that the
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Space frame is positioned at '<robot_name>/base_link'.
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To calculate your own MR Description, check out the kinematics_from_description package:
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https://github.com/Interbotix/kinematics_from_description
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"""
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from abc import ABC
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import numpy as np
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class ModernRoboticsDescription(ABC):
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"""
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Abstract base class for other MR Description classes.
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Derived classes should override the Slist and M member variables.
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"""
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Slist: np.ndarray = None
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"""
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Joint screw axes in the space frame when the manipulator is at the home position, in the format
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of a matrix with axes as the columns
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"""
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M: np.ndarray = None
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"""The home configuration (position and orientation) of the end-effector"""
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class px100(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.0931, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.1931, 0.0, 0.035],
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[0.0, 1.0, 0.0, -0.1931, 0.0, 0.135]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.248575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.1931],
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[0.0, 0.0, 0.0, 1.0]])
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class px150(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.25457, 0.0, 0.05],
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[0.0, 1.0, 0.0, -0.25457, 0.0, 0.2],
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[1.0, 0.0, 0.0, 0.0, 0.25457, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.358575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.25457],
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[0.0, 0.0, 0.0, 1.0]])
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class rx150(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.25457, 0.0, 0.05],
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[0.0, 1.0, 0.0, -0.25457, 0.0, 0.2],
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[1.0, 0.0, 0.0, 0.0, 0.25457, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.358575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.25457],
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[0.0, 0.0, 0.0, 1.0]])
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class rx200(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.30457, 0.0, 0.05],
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[0.0, 1.0, 0.0, -0.30457, 0.0, 0.25],
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[1.0, 0.0, 0.0, 0.0, 0.30457, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.408575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.30457],
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[0.0, 0.0, 0.0, 1.0]])
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class vx250(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.37705, 0.0, 0.06],
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[0.0, 1.0, 0.0, -0.37705, 0.0, 0.31],
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[1.0, 0.0, 0.0, 0.0, 0.37705, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.468575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.37705],
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[0.0, 0.0, 0.0, 1.0]])
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class vx300(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.42705, 0.0, 0.05955],
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[0.0, 1.0, 0.0, -0.42705, 0.0, 0.35955],
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[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.536494],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.42705],
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[0.0, 0.0, 0.0, 1.0]])
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class vx300s(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.42705, 0.0, 0.05955],
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[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0],
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[0.0, 1.0, 0.0, -0.42705, 0.0, 0.35955],
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[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.536494],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.42705],
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[0.0, 0.0, 0.0, 1.0]])
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class wx200(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.11065, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.31065, 0.0, 0.05],
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[0.0, 1.0, 0.0, -0.31065, 0.0, 0.25],
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[1.0, 0.0, 0.0, 0.0, 0.31065, 0.0]]).T
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M = np.array([[1.0, 0.0, 0.0, 0.408575],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.31065],
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[0.0, 0.0, 0.0, 1.0]])
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|
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class wx250(ModernRoboticsDescription):
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Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
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[0.0, 1.0, 0.0, -0.11065, 0.0, 0.0],
|
||||
[0.0, 1.0, 0.0, -0.36065, 0.0, 0.04975],
|
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[0.0, 1.0, 0.0, -0.36065, 0.0, 0.29975],
|
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[1.0, 0.0, 0.0, 0.0, 0.36065, 0.0]]).T
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|
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M = np.array([[1.0, 0.0, 0.0, 0.458325],
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[0.0, 1.0, 0.0, 0.0],
|
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[0.0, 0.0, 1.0, 0.36065],
|
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[0.0, 0.0, 0.0, 1.0]])
|
||||
|
||||
|
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class wx250s(ModernRoboticsDescription):
|
||||
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
|
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[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):
|
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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]])
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 192 KiB |
@ -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>
|
||||
@ -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
|
||||
|
||||
@ -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)
|
||||
|
||||
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@ -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.')
|
||||
Loading…
Reference in New Issue
Block a user