Correct URDF to true joint limits + Add and update documentation (#6)
* Rename openarm_bimanual_teleop to openarm_bimanual_bringup * Update package descriptions * Add quickstart link * Add note to source overlay * Add test installation step * Add poses and update default rviz config * Fix rev1 to match hardware * Align rev3 with hardware joint limits * Match hardware joint limits * Complete with more poses * Update README.md with moveit2 video * Add new READMEs in openarm_bringup and openarm_bimanual_moveit_config * Add octomap note
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30
README.md
30
README.md
@ -1,13 +1,21 @@
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# ROS2 packages for OpenArm robots
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- openarm_bimanual_description: humanoid upper body with two arms (urdf)
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- openarm_bringup: [ros2_control](https://control.ros.org/humble/index.html) bringup
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- openarm_description: single arm (urdf)
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[Quickstart](#installation)
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https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4
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- openarm_bimanual_description: dual arm urdf with torso and realsense head camera
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- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
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- openarm_bimanual_bringup: setup scripts for bimanual openarm
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- openarm_bringup: setup scripts for single physical openarm
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- openarm_description: single arm urdf
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- openarm_hardware: hardware interface for ros2_control
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- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
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### Description Packages
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Each link has a visual mesh and a collision mesh, as shown in the figures below:
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@ -21,10 +29,11 @@ https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
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## Installation
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1. [Install ROS2](https://docs.ros.org/en/humble/Installation.html) (Humble with Ubuntu 22.04 is recommended)
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2. [Create a ROS2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
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1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04)
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2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
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```sh
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source /opt/ros/humble/setup.bash # change humble to your ROS2 distro
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mkdir -p ~/ros2_ws/src
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cd ~/ros2_ws/src
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git clone https://github.com/reazon-research/openarm_ros2.git
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@ -46,9 +55,16 @@ colcon build
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```sh
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cd ~/ros2_ws
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. install/setup.bash
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source install/setup.bash
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```
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5. Test the installation by launching a demo. It may be necessary to restart your computer once.
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```sh
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ros2 launch openarm_bimanual_moveit_config demo.launch.py
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```
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## License
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All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).
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@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(openarm_bimanual_teleop)
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project(openarm_bimanual_bringup)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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@ -1,5 +1,10 @@
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import launch
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction, RegisterEventHandler
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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TimerAction,
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RegisterEventHandler,
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)
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from launch.event_handlers import OnProcessStart
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command
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from launch_ros.actions import Node
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@ -8,14 +13,14 @@ from launch_ros.parameter_descriptions import ParameterValue
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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import pathlib
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def generate_launch_description():
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def generate_launch_description():
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pkg_share = FindPackageShare(package="openarm_bimanual_description")
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xacro_path = pathlib.Path(pkg_share.find(
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"openarm_bimanual_description"
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)) / "urdf/openarm_bimanual.urdf.xacro"
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xacro_path = (
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pathlib.Path(pkg_share.find("openarm_bimanual_description"))
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/ "urdf/openarm_bimanual.urdf.xacro"
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)
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use_sim_time = LaunchConfiguration("use_sim_time")
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use_sim_time_launch_arg = DeclareLaunchArgument(name="use_sim_time", default_value="false")
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@ -35,30 +40,28 @@ def generate_launch_description():
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launch_arguments=dict(use_sim_time=use_sim_time).items(),
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)
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robot_description_content = Command(["xacro ", LaunchConfiguration("model")])
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robot_description_content = Command([
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'xacro ', LaunchConfiguration("model")
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])
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robot_description_param = {
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"robot_description": ParameterValue(robot_description_content, value_type=str)
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}
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robot_description_param = {'robot_description': ParameterValue(robot_description_content, value_type=str)}
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controller_params = PathJoinSubstitution([
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FindPackageShare(package='openarm_bimanual_teleop'),
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'config',
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'controllers.yaml'
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])
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controller_params = PathJoinSubstitution(
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[FindPackageShare(package="openarm_bimanual_bringup"), "config", "controllers.yaml"]
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)
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controller_manager = Node(
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package='controller_manager',
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executable='ros2_control_node',
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parameters=[controller_params, robot_description_param],)
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[controller_params, robot_description_param],
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)
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delayed_controller_manager = TimerAction(period=3.0, actions=[controller_manager])
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joint_broadcaster_spawner = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_state_broad'],
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broad"],
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)
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delayed_joint_broadcaster_spawner = RegisterEventHandler(
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@ -73,11 +76,11 @@ def generate_launch_description():
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DeclareLaunchArgument(
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name="model",
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default_value=str(xacro_path),
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description="Absolute path to the robot URDF or xacro file"
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description="Absolute path to the robot URDF or xacro file",
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),
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use_sim_time_launch_arg,
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robot_state_publisher_node,
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delayed_controller_manager,
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delayed_joint_broadcaster_spawner
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delayed_joint_broadcaster_spawner,
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]
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)
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@ -1,9 +1,9 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>openarm_bimanual_teleop</name>
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<name>openarm_bimanual_bringup</name>
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<version>0.0.0</version>
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<description>Teleoperation setup for bimanual openarm</description>
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<description>Bringup for bimanual openarm</description>
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<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
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<license>BSD-3-Clause</license>
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@ -7,4 +7,4 @@ moveit_setup_assistant_config:
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package_settings:
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author_name: Thomason Zhou
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author_email: t95zhou@uwaterloo.ca
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generated_timestamp: 1745222265
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generated_timestamp: 1745486864
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19
openarm_bimanual_moveit_config/README.md
Normal file
19
openarm_bimanual_moveit_config/README.md
Normal file
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# MoveIt2 on Bimanual Openarms
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Ensure the ROS2 packages and dependencies are installed by following the instructions in `openarm_ros2/README.md`.
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## Physical Hardware
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1. Run `init_can.sh` from `openarm_bringup/utils`.
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By default, can0 is the right arm and can1 is the left arm, but this can be adjusted in the ros2_control definition in `openarm_description/urdf/openarm.ros2_control.xacro`.
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2. Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles.
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```sh
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ros2 launch openarm_bimanual_bringup depth_camera.launch.py
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```
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## Launch the demo
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```sh
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ros2 launch openarm_bimanual_moveit_config demo.launch.py
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```
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Panels:
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- Class: rviz_common/Displays
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Help Height: 70
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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- /MotionPlanning1/Planning Request1
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Splitter Ratio: 0.5
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Tree Height: 160
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- Class: rviz_common/Help
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Name: Help
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Class: rviz_default_plugins/Grid
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: moveit_rviz_plugin/MotionPlanning
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- Acceleration_Scaling_Factor: 0.1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: false
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_bottom_screw_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_dummy_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_gripper_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link8:
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Alpha: 1
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Show Axes: false
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||||
Show Trail: false
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Value: true
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left_link_left_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link_right_jaw:
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Alpha: 1
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||||
Show Axes: false
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Show Trail: false
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Value: true
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pedestal_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
|
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Value: true
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right_dummy_link:
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Alpha: 1
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||||
Show Axes: false
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||||
Show Trail: false
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||||
right_gripper_center:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
right_link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link8:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link_left_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link_right_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
world:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Loop Animation: true
|
||||
Robot Alpha: 0.5
|
||||
Robot Color: 150; 50; 150
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Show Trail: false
|
||||
State Display Time: 0.05 s
|
||||
Trail Step Size: 1
|
||||
Trajectory Topic: display_planned_path
|
||||
Use Sim Time: false
|
||||
Planning Metrics:
|
||||
Payload: 1
|
||||
Show Joint Torques: false
|
||||
Show Manipulability: false
|
||||
Show Manipulability Index: false
|
||||
Show Weight Limit: false
|
||||
TextHeight: 0.07999999821186066
|
||||
Planning Request:
|
||||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0.15000000596046448
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: upper_body
|
||||
Query Goal State: true
|
||||
Query Start State: false
|
||||
Show Workspace: false
|
||||
Start State Alpha: 1
|
||||
Start State Color: 0; 255; 0
|
||||
Planning Scene Topic: monitored_planning_scene
|
||||
Robot Description: robot_description
|
||||
Scene Geometry:
|
||||
Scene Alpha: 1
|
||||
Scene Color: 50; 230; 50
|
||||
Scene Display Time: 0.009999999776482582
|
||||
Show Scene Geometry: true
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
Scene Robot:
|
||||
Attached Body Color: 150; 50; 150
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_accel_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_accel_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_bottom_screw_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_color_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_color_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_depth_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_depth_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_gyro_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_gyro_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra1_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra1_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra2_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra2_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_dummy_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
left_gripper_center:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
left_link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link8:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link_left_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_link_right_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pedestal_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_dummy_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
right_gripper_center:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
right_link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link8:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link_left_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_link_right_jaw:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
world:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Robot Alpha: 0.5
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 0.1
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: world
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 2.0
|
||||
Distance: 3.150280475616455
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.1
|
||||
X: -0.10000000149011612
|
||||
Y: 0.25
|
||||
Z: 0.30
|
||||
Z: 0.30000001192092896
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5
|
||||
Target Frame: world
|
||||
Yaw: -0.623
|
||||
Value: Orbit (rviz_default_plugins)
|
||||
Yaw: -0.6230000257492065
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 975
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000017d00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1200
|
||||
X: 120
|
||||
Y: 27
|
||||
|
||||
@ -125,8 +125,8 @@
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.2"/>
|
||||
<joint name="left_rev2" value="0"/>
|
||||
<joint name="left_rev3" value="0.5"/>
|
||||
<joint name="left_rev4" value="1.6"/>
|
||||
<joint name="left_rev3" value="0.3384"/>
|
||||
<joint name="left_rev4" value="1.3519"/>
|
||||
<joint name="left_rev5" value="0"/>
|
||||
<joint name="left_rev6" value="0"/>
|
||||
<joint name="left_rev7" value="0"/>
|
||||
@ -139,6 +139,132 @@
|
||||
<joint name="right_rev6" value="-0.2517"/>
|
||||
<joint name="right_rev7" value="0.0053"/>
|
||||
</group_state>
|
||||
<group_state name="hands_up" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.1"/>
|
||||
<joint name="left_rev2" value="0"/>
|
||||
<joint name="left_rev3" value="0"/>
|
||||
<joint name="left_rev4" value="2.7"/>
|
||||
<joint name="left_rev5" value="0"/>
|
||||
<joint name="left_rev6" value="0"/>
|
||||
<joint name="left_rev7" value="0"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="-0.1"/>
|
||||
<joint name="right_rev2" value="0"/>
|
||||
<joint name="right_rev3" value="0"/>
|
||||
<joint name="right_rev4" value="2.7"/>
|
||||
<joint name="right_rev5" value="0"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="wave_1" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.1"/>
|
||||
<joint name="left_rev2" value="0"/>
|
||||
<joint name="left_rev3" value="-0.5179"/>
|
||||
<joint name="left_rev4" value="2.4627"/>
|
||||
<joint name="left_rev5" value="-0.0116"/>
|
||||
<joint name="left_rev6" value="-0.5814"/>
|
||||
<joint name="left_rev7" value="0"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="-0.1"/>
|
||||
<joint name="right_rev2" value="0"/>
|
||||
<joint name="right_rev3" value="0"/>
|
||||
<joint name="right_rev4" value="0"/>
|
||||
<joint name="right_rev5" value="0"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="wave_2" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.1"/>
|
||||
<joint name="left_rev2" value="0"/>
|
||||
<joint name="left_rev3" value="0.4541"/>
|
||||
<joint name="left_rev4" value="2.4627"/>
|
||||
<joint name="left_rev5" value="-0.0116"/>
|
||||
<joint name="left_rev6" value="-0.5814"/>
|
||||
<joint name="left_rev7" value="0"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="-0.1"/>
|
||||
<joint name="right_rev2" value="0"/>
|
||||
<joint name="right_rev3" value="0"/>
|
||||
<joint name="right_rev4" value="0"/>
|
||||
<joint name="right_rev5" value="0"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="x" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="-0.2965"/>
|
||||
<joint name="left_rev2" value="-0.1745"/>
|
||||
<joint name="left_rev3" value="0.4513"/>
|
||||
<joint name="left_rev4" value="1.9092"/>
|
||||
<joint name="left_rev5" value="0.5207"/>
|
||||
<joint name="left_rev6" value="-0.3384"/>
|
||||
<joint name="left_rev7" value="-0.0795"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="0.4715"/>
|
||||
<joint name="right_rev2" value="-0.1224"/>
|
||||
<joint name="right_rev3" value="-1.0298"/>
|
||||
<joint name="right_rev4" value="2.0827"/>
|
||||
<joint name="right_rev5" value="-0.4513"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="swing_arm_left_forward" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="-0.6147"/>
|
||||
<joint name="left_rev2" value="-0.0356"/>
|
||||
<joint name="left_rev3" value="0.081"/>
|
||||
<joint name="left_rev4" value="0"/>
|
||||
<joint name="left_rev5" value="0.5207"/>
|
||||
<joint name="left_rev6" value="-0.3384"/>
|
||||
<joint name="left_rev7" value="-0.0795"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="-0.3876"/>
|
||||
<joint name="right_rev2" value="0.0858"/>
|
||||
<joint name="right_rev3" value="-0.567"/>
|
||||
<joint name="right_rev4" value="0"/>
|
||||
<joint name="right_rev5" value="-0.4513"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="swing_arm_right_forward" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.2762"/>
|
||||
<joint name="left_rev2" value="0.1553"/>
|
||||
<joint name="left_rev3" value="0.081"/>
|
||||
<joint name="left_rev4" value="0"/>
|
||||
<joint name="left_rev5" value="-0.4281"/>
|
||||
<joint name="left_rev6" value="-0.3384"/>
|
||||
<joint name="left_rev7" value="-0.0795"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="0.4556"/>
|
||||
<joint name="right_rev2" value="-0.0009"/>
|
||||
<joint name="right_rev3" value="-0.567"/>
|
||||
<joint name="right_rev4" value="0.0723"/>
|
||||
<joint name="right_rev5" value="0.243"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="siu" group="upper_body">
|
||||
<joint name="left_left_pris1" value="0"/>
|
||||
<joint name="left_rev1" value="0.4512"/>
|
||||
<joint name="left_rev2" value="0.2421"/>
|
||||
<joint name="left_rev3" value="0.081"/>
|
||||
<joint name="left_rev4" value="0"/>
|
||||
<joint name="left_rev5" value="-0.4281"/>
|
||||
<joint name="left_rev6" value="-0.3384"/>
|
||||
<joint name="left_rev7" value="-0.1326"/>
|
||||
<joint name="right_left_pris1" value="0"/>
|
||||
<joint name="right_rev1" value="-0.4035"/>
|
||||
<joint name="right_rev2" value="0.19"/>
|
||||
<joint name="right_rev3" value="-0.567"/>
|
||||
<joint name="right_rev4" value="0.0723"/>
|
||||
<joint name="right_rev5" value="0.243"/>
|
||||
<joint name="right_rev6" value="0"/>
|
||||
<joint name="right_rev7" value="0"/>
|
||||
</group_state>
|
||||
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
|
||||
<end_effector name="left_gripper" parent_link="left_link8" group="left_gripper" parent_group="left_side"/>
|
||||
<end_effector name="right_gripper" parent_link="right_link8" group="right_gripper" parent_group="right_side"/>
|
||||
|
||||
9
openarm_bringup/README.md
Normal file
9
openarm_bringup/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
## utils
|
||||
|
||||
init_can.sh \<device\> \<can interface\>
|
||||
|
||||
e.g.
|
||||
```sh
|
||||
./init_can.sh/dev/ACM0 can0
|
||||
./init_can.sh/dev/ACM1 can1
|
||||
```
|
||||
@ -234,49 +234,49 @@
|
||||
<child link="${prefix}link2"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi/4.0 if side=='right' and zero_pos=='arm' else -2.0943951023931953}" upper="${pi/4.0 if side=='left' and zero_pos=='arm' else 2.0943951023931953}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev2" type="revolute">
|
||||
<parent link="${prefix}link2"/>
|
||||
<child link="${prefix}link3"/>
|
||||
<origin rpy="-1.5707963267948968 ${pi/2 if zero_pos=='up' else 0.0} 0.0" xyz="0.0 -0.02975 0.04475"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.0" lower="${-pi/2.0 if zero_pos=='up' else 0}" upper="${pi/2 if zero_pos=='up' else pi}" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi/2.0 if zero_pos=='up' else -pi/18.0}" upper="${pi/2 if zero_pos=='up' else pi * 17.0 / 18.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev3" type="revolute">
|
||||
<parent link="${prefix}link3"/>
|
||||
<child link="${prefix}link4"/>
|
||||
<origin rpy="-1.5707963267949054 ${rotate} -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.0" lower="${-0.52359 if side=='right' else -3.66519}" upper="${3.66519 if side=='right' else 0.52359}" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi * 2.0 / 3.0}" upper="${pi * 2.0 / 3.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev4" type="revolute">
|
||||
<parent link="${prefix}link4"/>
|
||||
<child link="${prefix}link5"/>
|
||||
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="0" upper="${pi * 5.0 / 6.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev5" type="revolute">
|
||||
<parent link="${prefix}link5"/>
|
||||
<child link="${prefix}link6"/>
|
||||
<origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi * 2.0 / 3.0}" upper="${pi * 2.0 / 3.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev6" type="revolute">
|
||||
<parent link="${prefix}link6"/>
|
||||
<child link="${prefix}link7"/>
|
||||
<origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
|
||||
<axis xyz="0 0 ${reflect}"/>
|
||||
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi / 2.0}" upper="${pi / 2.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}rev7" type="revolute">
|
||||
<parent link="${prefix}link7"/>
|
||||
<child link="${prefix}link8"/>
|
||||
<origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
|
||||
<limit effort="0.0" lower="${-pi * 11.0 / 36.0}" upper="${pi * 11.0 / 36.0}" velocity="0.0"/>
|
||||
</joint>
|
||||
<joint name="${prefix}left_pris1" type="prismatic">
|
||||
<parent link="${prefix}link8"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user