Thomason Zhou
f7ca1fe7b7
Add updated urdfs
2025-04-23 18:33:41 +09:00
thomason
1a1084c627
Add moveit2 package with dual arm/gripper ( #5 )
...
* Create mujoco_ros2_control package
* Enable Mujoco hardware interface for OpenArm
* Verify connection with ros2_control
* Update actuators to pos/vel
* Add motor after creation
* Tune KD for smoother motion
* Restore realsense camera
* Change camera to be 10 tilt from vertical to match physical model
* Repair urdf to match physical robot
* Checkpoint moveit2_configuration
* Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock
* Enable octomap perception
* Fix base_link to world transform
* Update openarm to support moveit2 bimanual planning with end effectors
* Improve safety of openarm_hardware zero position autocalibration
* Remove openarm_mujoco_ros2_control from moveit2 branch
* Restore sensor functionality
2025-04-22 18:46:27 +09:00
Thomason Zhou
ce06ea14c1
Add URDFs
2025-04-15 15:38:11 +09:00
Thomason Zhou
65baa02f54
Resolve merge conflict
2025-04-15 15:32:09 +09:00
Thomason Zhou
9618e107a5
Remove default disable_torque_ in openarm
2025-04-10 18:34:54 +09:00
thomason
596c498598
Add openarm_bimanual_moveit_config and deploy to physical openarm ( #3 )
...
See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 18:31:15 +09:00
Thomason Zhou
42935bb3b1
Clean up openarm_bimanual_description
2025-04-01 13:47:32 +09:00
Thomason Zhou
b50556cb83
Refactor openarm urdf
2025-04-01 13:46:52 +09:00
Thomason Zhou
8168442d4e
Add library install for openarm_hardware
2025-04-01 13:46:10 +09:00
thomason
d743016402
Update README.md with installation instructions
2025-03-28 19:09:46 +09:00
Thomason Zhou
0246fc63ca
Reorder packages in alphabetical order in README.md
2025-03-28 18:06:57 +09:00
thomason
595fbe7745
Implement openarm ros2_control support with openarm_hardware and openarm_bringup ( #2 )
...
- openarm_bringup: ros2_control bringup
- openarm_hardware: hardware interface for ros2_control
2025-03-28 18:05:38 +09:00
Thomason Zhou
52f39010d7
Update package.xml description for openarm_bimanual_description
2025-03-11 14:24:38 +09:00
thomason
8cfbde64a6
Update README.md with pictures of completed openarm_bimanual_description urdf
2025-03-11 14:22:47 +09:00
Thomason Zhou
d5a93222a5
Add openarm_bimanual_description to the readme
2025-03-11 14:13:26 +09:00
Thomason Zhou
5839d05ffa
Update default zero to be up, with option for arm zero position (bend shoulder)
2025-03-11 13:35:34 +09:00
Thomason Zhou
73eea36fde
Update urdf
2025-03-11 13:17:59 +09:00
Thomason Zhou
bb8bff1b63
Refactor openarm_description into separate package
2025-03-11 13:16:12 +09:00
Thomason Zhou
17b99f5342
Cleanup bimanual_description
2025-03-11 13:06:46 +09:00
Thomason Zhou
3b8f12da9c
Use stl over dae
2025-03-11 12:49:23 +09:00
Thomason Zhou
db10d87545
Remove redundant dae files
2025-03-11 12:26:40 +09:00
Thomason Zhou
4dddd2b958
Rename dae to more readable names
2025-03-11 12:23:32 +09:00
Thomason Zhou
c5f8cfb248
Update rom of gripper to 4.51cm
2025-03-11 12:08:14 +09:00
Thomason Zhou
289ed48c69
Generate updated urdf
2025-03-11 00:56:48 +09:00
Thomason Zhou
62b6e3afe1
Align left gripper visual mesh
2025-03-10 23:37:26 +09:00
Thomason Zhou
f88e62e6fb
Align left arm mesh
2025-03-10 23:25:32 +09:00
Thomason Zhou
44667562ed
Complete mesh alignment for left arm
2025-03-10 23:13:04 +09:00
Thomason Zhou
2a0ef59929
Close
2025-03-10 22:52:04 +09:00
Thomason Zhou
e00fa98f7b
Add rotate mesh for actuator motor
2025-03-10 22:51:20 +09:00
Thomason Zhou
90f859b54a
Add left wrist
2025-03-10 22:37:42 +09:00
Thomason Zhou
fdf02a7284
Add arm mirrors
2025-03-10 21:40:29 +09:00
Thomason Zhou
d630ecb127
Checkpoint: left arm up to link4
2025-03-10 21:24:14 +09:00
Thomason Zhou
749a893c80
Revert side
2025-03-10 19:27:48 +09:00
Thomason Zhou
184959e49b
Revert mirrors
2025-03-10 19:24:37 +09:00
Thomason Zhou
45f5e21513
Link 5 checkpoint
2025-03-10 18:25:12 +09:00
Thomason Zhou
213a35fb78
Checkpoint to add up to rev 6, link 4
2025-03-10 18:16:48 +09:00
Thomason Zhou
fc2477b9c5
Correct first joint of left arm
2025-03-10 18:08:07 +09:00
Thomason Zhou
b81fc57db4
Checkpoint: up to link3
2025-03-10 17:32:31 +09:00
Thomason Zhou
97564b9115
Switch default to right
2025-03-10 17:16:37 +09:00
Thomason Zhou
a2e5683a35
Define one side with xacro
2025-03-10 17:06:07 +09:00
Thomason Zhou
8fad065c6f
Format left urdf
2025-03-10 16:40:21 +09:00
Thomason Zhou
9f8500684f
Add left and right arms
2025-03-10 16:28:24 +09:00
Thomason Zhou
377659699f
Define xacro shortcuts to start and decouple left and right arms from torso
2025-03-10 15:23:26 +09:00
Thomason Zhou
f881d5c10d
Move openarm_two_arms out of workfolder
2025-03-10 10:47:14 +08:00
Thomason Zhou
1cdb995dce
Add two arm urdf
2025-03-10 10:46:20 +08:00
Thomason Zhou
102f1edc98
Add todo note about inertial tests for URDF
2025-03-10 10:25:28 +08:00
Thomason Zhou
702296982d
Update joint names to be more readable
2025-03-08 19:50:16 +08:00
Thomason Zhou
65d94e4aef
Add new urdf
2025-03-08 19:45:28 +08:00
Thomason Zhou
c1016d6657
Update rev7 joint type for urdf (continuous -> revolute)
2025-03-05 12:38:01 +09:00
Thomason Zhou
49483aa09c
Remove all permissions from meshes
2025-02-19 18:13:52 +09:00
