diff --git a/CMakeLists.txt b/CMakeLists.txt index 2cfc8c6..c748237 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -35,4 +35,6 @@ foreach(install_dir assets launch rviz scripts) endif() endforeach() +install(PROGRAMS script/export_urdf DESTINATION lib/${PROJECT_NAME}) + ament_package() diff --git a/assets/robot/openarm_v2.0_cell/config/arm/control/control_gains.yaml b/assets/robot/openarm_v2.0_cell/config/arm/control/control_gains.yaml new file mode 100644 index 0000000..7364f59 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/control/control_gains.yaml @@ -0,0 +1,41 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +joint1: + kp: 70.0 + kd: 2.75 + +joint2: + kp: 70.0 + kd: 2.5 + +joint3: + kp: 70.0 + kd: 2.0 + +joint4: + kp: 60.0 + kd: 2.0 + +joint5: + kp: 10.0 + kd: 0.7 + +joint6: + kp: 10.0 + kd: 0.6 + +joint7: + kp: 10.0 + kd: 0.5 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/control/friction.yaml b/assets/robot/openarm_v2.0_cell/config/arm/control/friction.yaml new file mode 100644 index 0000000..e69de29 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/inertials/nominal.yaml b/assets/robot/openarm_v2.0_cell/config/arm/inertials/nominal.yaml new file mode 100644 index 0000000..a6f5f7e --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/inertials/nominal.yaml @@ -0,0 +1,126 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +base_link: + origin: + x: 0.00253123748061566 + y: -0.0258185540330169 + z: 2.70658291858903e-05 + roll: 0 + pitch: -0 + yaw: 0 + mass: 1.1432284943239561 + inertia: + xx: 0.00113607806226198 + xy: 3.81487993180929e-07 + xz: 1.09161247709715e-08 + yy: 0.00159935208714031 + yz: 2.7521421737084e-08 + zz: 0.000750541980863571 +link1: + origin: + x: 0.000900350355624244 + y: -0.0444659716892874 + z: 2.88441021165683e-05 + roll: 0 + pitch: -0 + yaw: 0 + mass: 1.1416684646202298 + inertia: + xx: 0.0010943212038551 + xy: 9.41628673674543e-06 + xz: 4.53422182483102e-08 + yy: 0.000759199728161993 + yz: 6.66755698859637e-08 + zz: 0.000670659201019629 +link2: + origin: + x: -0.0247184924346635 + y: 7.60578399428002e-08 + z: -0.0312643102292087 + roll: 0 + pitch: -0 + yaw: 0 + mass: 0.2775092746011571 + inertia: + xx: 0.000153588833784759 + xy: -2.94422592188677e-10 + xz: 5.21056076779068e-06 + yy: 0.000113062180225725 + yz: 3.75816911469744e-10 + zz: 8.22999351863579e-05 +link3: + origin: + x: -0.00300861804638783 + y: -0.000514813312550808 + z: -0.109368241429434 + roll: 0 + pitch: -0 + yaw: 0 + mass: 1.073863338202347 + inertia: + xx: 0.00128939636591746 + xy: -2.29951046666492e-07 + xz: -6.76161926984358e-05 + yy: 0.00114018992179734 + yz: -1.06260802872572e-05 + zz: 0.000559765478676303 +link4: + origin: + x: -0.00310326243752606 + y: -0.00136538979048502 + z: -0.0574601379354351 + roll: 0 + pitch: -0 + yaw: 0 + mass: 0.6348534566833373 + inertia: + xx: 0.0004690036047182 + xy: 5.63626910265645e-06 + xz: -1.77877991597693e-06 + yy: 0.000433926270522842 + yz: 3.41757797773822e-06 + zz: 0.000245211429759716 +link5: + origin: + x: -0.000737188580130584 + y: -0.000412406544351845 + z: -0.047093829077211 + roll: 0 + pitch: -0 + yaw: 0 + mass: 0.6156588026168502 + inertia: + xx: 0.000279653368752989 + xy: 3.31745289972445e-06 + xz: 7.68097311403736e-07 + yy: 0.000334599623120095 + yz: -1.49934409279756e-07 + zz: 0.000176662464388138 +link6: + origin: + x: 2.27438423593244e-05 + y: 0.00068649602098908 + z: 5.44000494765995e-05 + roll: 0 + pitch: -0 + yaw: 0 + mass: 0.475202773187987 + inertia: + xx: 0.000179275941446964 + xy: 6.58439346712228e-08 + xz: -3.37101167120887e-08 + yy: 0.000136247512758587 + yz: 3.32253600295544e-08 + zz: 0.000135340695937386 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_axes.yaml b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_axes.yaml new file mode 100644 index 0000000..76b2124 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_axes.yaml @@ -0,0 +1,49 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +joint1: + axis: + x: 0 + y: -1 + z: 0 +joint2: + axis: + x: -1 + y: 0 + z: 0 +joint3: + axis: + x: 0 + y: 0 + z: -1 +joint4: + axis: + x: 0 + y: -1 + z: 0 +joint5: + axis: + x: 0 + y: 0 + z: -1 +joint6: + axis: + x: 0 + y: 1 + z: 0 +joint7: + axis: + x: 1 + y: 0 + z: 0 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_limits.yaml b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_limits.yaml new file mode 100644 index 0000000..3ff08f4 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_limits.yaml @@ -0,0 +1,56 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +joint1: + limit: + lower: -1.3963 + upper: 3.4907 + effort: 40 + velocity: 16.755 +joint2: + limit: + lower: -0.74213 #-0.17453 + upper: 2.7485 #3.3161 + effort: 40 + velocity: 16.755 +joint3: + limit: + lower: -0.01 #-1.5708 + upper: 3.1415 #1.5708 + effort: 27 + velocity: 5.4454 +joint4: + limit: + lower: -1.6582 # 0 + upper: 0.7853 # 2.4435-1.6582 + effort: 27 + velocity: 5.4454 +joint5: + limit: + lower: -1.5447 #-1.5708 + upper: 1.6 #1.5708 + effort: 7 + velocity: 20.944 +joint6: + limit: + lower: -0.3 #-0.7854 + upper: 1.27 #0.7854 + effort: 7 + velocity: 20.944 +joint7: + limit: + lower: -3.138 #-1.5708 + upper: 0.03 #1.5708 + effort: 7 + velocity: 20.944 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_origins.yaml b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_origins.yaml new file mode 100644 index 0000000..beee957 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/joint/joint_origins.yaml @@ -0,0 +1,70 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +joint1: + origin: + x: 0 + y: -0.0625 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 +joint2: + origin: + x: 0 + y: -0.0600000000000001 + z: 0 + roll: -0.5676 #0.5676 + pitch: -0 + yaw: 0 +joint3: + origin: + x: 0 + y: 0 + z: -0.06625000000000079 + roll: 0 + pitch: -0 + yaw: 1.5708 #-1.5708 +joint4: + origin: + x: 0 + y: 0 + z: -0.15375 + roll: 0 + pitch: -1.6582 #-1.6582 + yaw: 0 +joint5: + origin: + x: 0 + y: 0 + z: -0.0955000000000005 + roll: 0 + pitch: -0 + yaw: -0.0644 #0.0644 +joint6: + origin: + x: 0 + y: 0 + z: -0.120499999999998 + roll: 0 + pitch: -0.4847 + yaw: 0 +joint7: + origin: + x: 0 + y: 0 + z: 0 + roll: 1.5677 #-1.5677 + pitch: -0 + yaw: 0 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/link/collisions.yaml b/assets/robot/openarm_v2.0_cell/config/arm/link/collisions.yaml new file mode 100644 index 0000000..f7c66fb --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/link/collisions.yaml @@ -0,0 +1,112 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +base_link: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/base_link.stl" + scale: + x: 1 + y: 1 + z: 1 +link1: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link1.stl" + scale: + x: 1 + y: 1 + z: 1 +link2: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link2.stl" + scale: + x: 1 + y: 1 + z: 1 +link3: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link3.stl" + scale: + x: 1 + y: 1 + z: 1 +link4: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link4.stl" + scale: + x: 1 + y: 1 + z: 1 +link5: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link5.stl" + scale: + x: 1 + y: 1 + z: 1 +link6: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/collision/link6.stl" + scale: + x: 1 + y: 1 + z: 1 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/link/visuals.yaml b/assets/robot/openarm_v2.0_cell/config/arm/link/visuals.yaml new file mode 100644 index 0000000..3c600ff --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/link/visuals.yaml @@ -0,0 +1,112 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +base_link: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/base_link.dae" + scale: + x: 1 + y: 1 + z: 1 +link1: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link1.dae" + scale: + x: 1 + y: 1 + z: 1 +link2: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link2.dae" + scale: + x: 1 + y: 1 + z: 1 +link3: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link3.dae" + scale: + x: 1 + y: 1 + z: 1 +link4: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link4.dae" + scale: + x: 1 + y: 1 + z: 1 +link5: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link5.dae" + scale: + x: 1 + y: 1 + z: 1 +link6: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/arm/visual/link6.dae" + scale: + x: 1 + y: 1 + z: 1 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/meta.md b/assets/robot/openarm_v2.0_cell/config/arm/meta.md new file mode 100644 index 0000000..b29180e --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/meta.md @@ -0,0 +1,3 @@ +# Openarm V2.0 Base Arm + +![Openarm V2.0 Base Arm](../../imgs/open_arm_v2.0_base_arm.png) \ No newline at end of file diff --git a/assets/robot/openarm_v2.0_cell/config/arm/struct/name_mapping.yaml b/assets/robot/openarm_v2.0_cell/config/arm/struct/name_mapping.yaml new file mode 100644 index 0000000..98d02fd --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/struct/name_mapping.yaml @@ -0,0 +1,50 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +links: + canonical_to_original: + base_link: base_link + link1: link1 + link2: link2 + link3: link3 + link4: link4 + link5: link5 + link6: link6 + link7: empty_link_for_J7 + original_to_canonical: + base_link: base_link + link1: link1 + link2: link2 + link3: link3 + link4: link4 + link5: link5 + link6: link6 + empty_link_for_J7: link7 +joints: + canonical_to_original: + joint1: joint1 + joint2: joint2 + joint3: joint3 + joint4: joint4 + joint5: joint5 + joint6: joint6 + joint7: joint7 + original_to_canonical: + joint1: joint1 + joint2: joint2 + joint3: joint3 + joint4: joint4 + joint5: joint5 + joint6: joint6 + joint7: joint7 diff --git a/assets/robot/openarm_v2.0_cell/config/arm/struct/reference_points.yaml b/assets/robot/openarm_v2.0_cell/config/arm/struct/reference_points.yaml new file mode 100644 index 0000000..2f52487 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/struct/reference_points.yaml @@ -0,0 +1,35 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +ee_mount_point: + parent: link7 + origin: + x: 0.0205 + y: 0 + z: 0 + roll: 0 + pitch: -0 + yaw: 0 + meta: + kind: assembly_mount + source_joint: + original_name: ee_mount_joint + canonical_name: null + type: fixed + parent_link: + original_name: empty_link_for_J7 + canonical_name: link7 + child_link: + original_name: empty_link_for_ee_mounting + canonical_name: null diff --git a/assets/robot/openarm_v2.0_cell/config/arm/struct/topology.yaml b/assets/robot/openarm_v2.0_cell/config/arm/struct/topology.yaml new file mode 100644 index 0000000..a59e97a --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/arm/struct/topology.yaml @@ -0,0 +1,52 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +links: + - base_link + - link1 + - link2 + - link3 + - link4 + - link5 + - link6 + - link7 +joints: + joint1: + type: revolute + parent: base_link + child: link1 + joint2: + type: revolute + parent: link1 + child: link2 + joint3: + type: revolute + parent: link2 + child: link3 + joint4: + type: revolute + parent: link3 + child: link4 + joint5: + type: revolute + parent: link4 + child: link5 + joint6: + type: revolute + parent: link5 + child: link6 + joint7: + type: revolute + parent: link6 + child: link7 diff --git a/assets/robot/openarm_v2.0_cell/config/cell/inertials/nominal.yaml b/assets/robot/openarm_v2.0_cell/config/cell/inertials/nominal.yaml new file mode 100644 index 0000000..1f8a777 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/cell/inertials/nominal.yaml @@ -0,0 +1,30 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cell_link0: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + mass: 13.89 + inertia: + xx: 1.653 + xy: 0.0 + xz: 0.0 + yy: 1.653 + yz: 0.0 + zz: 0.051 diff --git a/assets/robot/openarm_v2.0_cell/config/cell/link/collisions.yaml b/assets/robot/openarm_v2.0_cell/config/cell/link/collisions.yaml new file mode 100644 index 0000000..883985b --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/cell/link/collisions.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cell_link0: + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 1.5708 + pitch: 0.0 + yaw: -1.5708 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/cell/collision/cell_link0.stl" + scale: + x: 1 + y: 1 + z: 1 diff --git a/assets/robot/openarm_v2.0_cell/config/cell/link/visuals.yaml b/assets/robot/openarm_v2.0_cell/config/cell/link/visuals.yaml new file mode 100644 index 0000000..fdeb2ce --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/cell/link/visuals.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cell_link0: + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.1415 + pitch: 0.0 + yaw: -1.5708 + geometry: + mesh: "package://openarm_description/assets/robot/openarm_v2.0_cell/meshes/cell/visual/cell_link0.dae" + scale: + x: 1 + y: 1 + z: 1 diff --git a/assets/robot/openarm_v2.0_cell/config/cell/meta.md b/assets/robot/openarm_v2.0_cell/config/cell/meta.md new file mode 100644 index 0000000..e69de29 diff --git a/assets/robot/openarm_v2.0_cell/config/cell/struct/reference_points.yaml b/assets/robot/openarm_v2.0_cell/config/cell/struct/reference_points.yaml new file mode 100644 index 0000000..d87eab5 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/cell/struct/reference_points.yaml @@ -0,0 +1,72 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +left_arm_mount_point: + parent: cell_link0 + origin: + y: 0.03 + z: 1.34751 + x: -0.24 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + meta: + kind: assembly_mount + source_joint: + original_name: body_left_arm_mount + canonical_name: null + type: fixed + parent_link: + original_name: cell_link0 + canonical_name: cell_link0 + child_link: + original_name: cell_left_arm_mount_point + canonical_name: null + +right_arm_mount_point: + parent: cell_link0 + origin: + y: -0.03 + z: 1.34751 + x: -0.24 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + meta: + kind: assembly_mount + source_joint: + original_name: body_right_arm_mount + canonical_name: null + type: fixed + parent_link: + original_name: cell_link0 + canonical_name: cell_link0 + child_link: + original_name: body_right_arm_mount_point + canonical_name: null + +# Example body-mounted camera reference point. Tune this pose from CAD or +# calibration before using it on hardware. +# zed_front_mount_point: +# parent: body_link0 +# origin: +# x: 0.12 +# y: 0.0 +# z: 0.82 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 +# meta: +# kind: sensor_mount +# sensor_family: zed diff --git a/assets/robot/openarm_v2.0_cell/config/cell/struct/topology.yaml b/assets/robot/openarm_v2.0_cell/config/cell/struct/topology.yaml new file mode 100644 index 0000000..3607a8b --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/cell/struct/topology.yaml @@ -0,0 +1,17 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +links: + - cell_link0 +joints: {} diff --git a/assets/robot/openarm_v2.0_cell/config/meta.md b/assets/robot/openarm_v2.0_cell/config/meta.md new file mode 100644 index 0000000..d13819b --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/meta.md @@ -0,0 +1,16 @@ +right arm with pinch gripper + +![right arm with pinch gripper](../imgs/openarm_v2.0_right_arm_with_pinch_gripper.png) + +left arm with pinch gripper + +![left arm with pinch gripper](../imgs/openarm_v2.0_left_arm_with_pinch_gripper.png) + + +default bimanual + +![default bimanual](../imgs/openarm_v2.0_bimanual.png) + +bimanual with grasp frame + +![bimanual with grasp frame](../imgs/openarm_v2.0_bimanual_with_grasp_frame.png) \ No newline at end of file diff --git a/assets/robot/openarm_v2.0_cell/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0_cell/config/robot_presets/default_bimanual.yaml new file mode 100644 index 0000000..53f36c5 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/robot_presets/default_bimanual.yaml @@ -0,0 +1,120 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +robot: + root_frame: world + components: + - cell + - primary_arm + - secondary_arm + - primary_arm_end_effector + - secondary_arm_end_effector + +cell: + type: robot + enabled: true + product: openarm_v2.0 + config: cell + inertials: nominal + link_name: openarm_cell_link0 + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: cell + parent_reference_point: left_arm_mount_point + parent: null + origin: null + reflect: + x: 1 + y: -1 + z: 1 + include: + links: [base_link, link1, link2, link5, link6, link7] + joints: [joint1, joint2, joint3, joint5, joint6, joint7] + reference_points: [ee_mount_point] + limit_override_joints: {} + +secondary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: cell + parent_reference_point: right_arm_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm_end_effector: + type: end_effector + enabled: true + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: -1 + z: 1 + limit_override_joints: {} + +secondary_arm_end_effector: + type: end_effector + enabled: true + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: secondary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} diff --git a/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm.yaml new file mode 100644 index 0000000..74f6fce --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm.yaml @@ -0,0 +1,124 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +robot: + root_frame: world + components: + - primary_arm + +body: + type: robot + enabled: false + product: openarm_v2.0 + config: body + inertials: nominal + link_name: openarm_body_link0 + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_left_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: -1 + z: 1 + include: + links: [base_link, link1, link2, link5, link6, link7] + joints: [joint1, joint2, joint3, joint5, joint6, joint7] + reference_points: [ee_mount_point] + limit_override_joints: {} + +secondary_arm: + type: robot + enabled: false + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_right_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm_end_effector: + type: end_effector + enabled: false + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: -1 + z: 1 + limit_override_joints: {} + +secondary_arm_end_effector: + type: end_effector + enabled: false + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: secondary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} diff --git a/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm_with_pinch_gripper.yaml new file mode 100644 index 0000000..e1d7a80 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/robot_presets/left_arm_with_pinch_gripper.yaml @@ -0,0 +1,125 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +robot: + root_frame: world + components: + - primary_arm + - primary_arm_end_effector + +body: + type: robot + enabled: false + product: openarm_v2.0 + config: body + inertials: nominal + link_name: openarm_body_link0 + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_left_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: -1 + z: 1 + include: + links: [base_link, link1, link2, link5, link6, link7] + joints: [joint1, joint2, joint3, joint5, joint6, joint7] + reference_points: [ee_mount_point] + limit_override_joints: {} + +secondary_arm: + type: robot + enabled: false + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_right_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm_end_effector: + type: end_effector + enabled: true + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: -1 + z: 1 + limit_override_joints: {} + +secondary_arm_end_effector: + type: end_effector + enabled: false + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: secondary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} diff --git a/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm.yaml new file mode 100644 index 0000000..d4c6829 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm.yaml @@ -0,0 +1,124 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +robot: + root_frame: world + components: + - primary_arm + +body: + type: robot + enabled: false + product: openarm_v2.0 + config: body + inertials: nominal + link_name: openarm_body_link0 + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_right_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +secondary_arm: + type: robot + enabled: false + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_left_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: -1 + z: 1 + include: + links: [base_link, link1, link2, link5, link6, link7] + joints: [joint1, joint2, joint3, joint5, joint6, joint7] + reference_points: [ee_mount_point] + limit_override_joints: {} + +primary_arm_end_effector: + type: end_effector + enabled: false + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +secondary_arm_end_effector: + type: end_effector + enabled: false + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: secondary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: -1 + z: 1 + limit_override_joints: {} diff --git a/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm_with_pinch_gripper.yaml new file mode 100644 index 0000000..248834d --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/config/robot_presets/right_arm_with_pinch_gripper.yaml @@ -0,0 +1,121 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +robot: + root_frame: world + components: + - primary_arm + - primary_arm_end_effector + +body: + type: robot + enabled: false + product: openarm_v2.0 + config: body + inertials: nominal + link_name: openarm_body_link0 + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +primary_arm: + type: robot + enabled: true + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_right_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + +secondary_arm: + type: robot + enabled: false + product: openarm_v2.0 + config: arm + inertials: nominal + prefix: openarm_left_ + connection: + parent: world + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + reflect: + x: 1 + y: -1 + z: 1 + limit_override_joints: {} + +primary_arm_end_effector: + type: end_effector + enabled: true + product: pinch_gripper + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + parent: null + origin: null + reflect: + x: 1 + y: 1 + z: 1 + limit_override_joints: {} + 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60 0 61 0 62 0 62 1 61 1 20 1 75 2 20 2 61 2 20 3 75 3 65 3 71 4 4 4 55 4 4 5 71 5 56 5 70 6 56 6 71 6 56 7 70 7 3 7 72 8 3 8 70 8 3 9 72 9 57 9 57 10 72 10 73 10 74 11 58 11 73 11 2 12 73 12 58 12 73 13 2 13 57 13 59 14 58 14 74 14 58 15 59 15 60 15 61 16 60 16 59 16 7 17 48 17 6 17 49 18 6 18 48 18 6 19 49 19 5 19 0 20 5 20 49 20 5 21 0 21 50 21 51 22 50 22 0 22 50 23 51 23 52 23 68 24 52 24 51 24 52 25 68 25 53 25 69 26 53 26 68 26 53 27 69 27 54 27 55 28 54 28 69 28 54 29 55 29 4 29 43 30 10 30 42 30 11 31 42 31 10 31 42 32 11 32 12 32 10 33 43 33 9 33 44 34 9 34 43 34 45 35 9 35 44 35 9 36 45 36 8 36 46 37 8 37 45 37 8 38 46 38 47 38 47 39 46 39 7 39 46 40 67 40 7 40 48 41 7 41 67 41 36 42 37 42 38 42 37 43 39 43 38 43 66 44 38 44 39 44 38 45 66 45 15 45 15 46 66 46 14 46 66 47 40 47 14 47 14 48 40 48 13 48 41 49 13 49 40 49 13 50 41 50 12 50 12 51 41 51 42 51 18 52 1 52 17 52 1 53 63 53 17 53 79 54 17 54 63 54 17 55 79 55 31 55 32 56 31 56 79 56 31 57 32 57 16 57 16 58 32 58 33 58 80 59 33 59 32 59 34 60 33 60 80 60 33 61 34 61 35 61 37 62 35 62 34 62 35 63 37 63 36 63 22 64 76 64 23 64 24 65 23 65 76 65 23 66 24 66 25 66 25 67 24 67 26 67 24 68 27 68 26 68 29 69 26 69 27 69 26 70 29 70 28 70 28 71 29 71 30 71 29 72 77 72 30 72 78 73 30 73 77 73 30 74 78 74 19 74 1 75 19 75 78 75 19 76 1 76 18 76 20 77 65 77 21 77 21 78 65 78 22 78 65 79 64 79 22 79 76 80 22 80 64 80 46 81 0 81 49 81 61 82 70 82 64 82 1 83 34 83 32 83 67 84 46 84 48 84 48 83 46 83 49 83 42 85 41 85 43 85 43 86 46 86 44 86 46 83 45 83 44 83 72 83 70 83 73 83 73 83 70 83 74 83 41 87 40 87 66 87 77 88 29 88 1 88 74 83 70 83 59 83 59 83 70 83 61 83 51 89 0 89 68 89 55 90 69 90 70 90 70 91 68 91 0 91 69 92 68 92 70 92 55 83 70 83 71 83 64 93 1 93 29 93 46 83 70 83 0 83 77 94 1 94 78 94 79 83 1 83 32 83 1 95 79 95 63 95 76 83 64 83 24 83 61 96 64 96 75 96 75 97 64 97 65 97 34 83 80 83 32 83 66 83 39 83 37 83 29 98 24 98 64 98 43 99 41 99 34 99 66 83 34 83 41 83 46 100 43 100 34 100 64 83 34 83 1 83 34 83 64 83 46 83 70 83 46 83 64 83 24 83 29 83 27 83 37 101 34 101 66 101 135 102 90 102 89 102 112 103 97 103 107 103 108 104 109 104 110 104 111 105 110 105 109 105 110 106 111 106 175 106 177 107 248 107 254 107 302 108 112 108 260 108 113 109 260 109 112 109 260 110 113 110 115 110 114 111 115 111 113 111 109 112 107 112 97 112 107 113 109 113 108 113 175 114 254 114 176 114 177 115 175 115 111 115 112 116 95 116 97 116 95 117 112 117 302 117 115 118 114 118 116 118 117 119 116 119 114 119 116 120 117 120 118 120 176 121 118 121 117 121 118 122 176 122 254 122 120 123 119 123 173 123 121 124 173 124 119 124 173 125 121 125 122 125 250 126 174 126 251 126 123 127 251 127 174 127 251 128 123 128 256 128 124 129 256 129 123 129 254 130 175 130 177 130 121 131 106 131 245 131 174 132 250 133 184 134 128 135 126 135 127 135 126 136 128 136 245 136 119 137 174 137 184 137 174 138 119 138 120 138 122 139 245 139 128 139 245 140 122 140 121 140 186 141 87 141 88 141 129 142 193 142 163 142 256 143 124 143 125 143 125 144 124 144 278 144 131 145 132 145 133 145 186 146 133 146 132 146 127 147 278 147 124 147 278 148 127 148 126 148 134 149 92 149 129 149 181 150 163 150 193 150 163 151 181 151 130 151 130 152 181 152 131 152 132 153 131 153 181 153 183 154 167 154 196 154 178 155 168 155 182 155 170 156 290 156 169 156 290 157 170 157 246 157 291 158 246 158 170 158 246 159 291 159 292 159 178 160 227 160 262 160 288 161 196 161 167 161 129 162 93 162 193 162 93 163 129 163 92 163 139 164 140 164 161 164 92 165 134 165 91 165 91 166 134 166 135 166 136 167 135 167 134 167 135 168 136 168 90 168 166 169 182 169 168 169 88 170 133 170 186 170 142 171 137 171 138 171 171 172 292 172 291 172 167 173 183 173 166 173 182 174 166 174 183 174 169 175 289 175 288 175 289 176 169 176 290 176 164 177 90 177 136 177 90 178 164 178 89 178 139 179 244 179 180 179 89 180 164 180 88 180 165 181 88 181 164 181 133 182 88 182 165 182 168 183 262 183 172 183 262 184 168 184 178 184 288 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+ + + + + + + + + + 0.00100000028 0 0 0 0 0.00100000028 0 0 0 0 0.00100000028 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/example/v2.urdf b/assets/robot/openarm_v2.0_cell/urdf/example/v2.urdf new file mode 100644 index 0000000..9ac881d --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/example/v2.urdf @@ -0,0 +1,871 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + v20 + mock_components/GenericSystem + False + 0.0 + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + v20 + mock_components/GenericSystem + False + 0.0 + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + + + + 0.0 + + + 0.0 + + + 0.0 + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/openarm_v20_cell.urdf.xacro b/assets/robot/openarm_v2.0_cell/urdf/openarm_v20_cell.urdf.xacro new file mode 100644 index 0000000..f29ad9e --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/openarm_v20_cell.urdf.xacro @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.bimanual.ros2_control.xacro new file mode 100644 index 0000000..e7b25ad --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.bimanual.ros2_control.xacro @@ -0,0 +1,157 @@ + + + + + + + + + + ${arm_type} + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArmHW + ${left_can_interface} + ${left_arm_prefix} + ${can_fd} + ${ee_type} + ${control_gains['joint1']['kp']} + ${control_gains['joint2']['kp']} + ${control_gains['joint3']['kp']} + ${control_gains['joint4']['kp']} + ${control_gains['joint5']['kp']} + ${control_gains['joint6']['kp']} + ${control_gains['joint7']['kp']} + ${control_gains['joint1']['kd']} + ${control_gains['joint2']['kd']} + ${control_gains['joint3']['kd']} + ${control_gains['joint4']['kd']} + ${control_gains['joint5']['kd']} + ${control_gains['joint6']['kd']} + ${control_gains['joint7']['kd']} + + + + + + + + + + + ${initial_position} + + + + 0.0 + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + ${arm_type} + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArmHW + ${right_can_interface} + ${right_arm_prefix} + ${can_fd} + ${ee_type} + ${control_gains['joint1']['kp']} + ${control_gains['joint2']['kp']} + ${control_gains['joint3']['kp']} + ${control_gains['joint4']['kp']} + ${control_gains['joint5']['kp']} + ${control_gains['joint6']['kp']} + ${control_gains['joint7']['kp']} + ${control_gains['joint1']['kd']} + ${control_gains['joint2']['kd']} + ${control_gains['joint3']['kd']} + ${control_gains['joint4']['kd']} + ${control_gains['joint5']['kd']} + ${control_gains['joint6']['kd']} + ${control_gains['joint7']['kd']} + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.ros2_control.xacro new file mode 100644 index 0000000..59f182b --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/ros2_control/openarm.ros2_control.xacro @@ -0,0 +1,107 @@ + + + + + + + + + + ${arm_type} + ${arm_prefix} + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArmHW + ${can_interface} + ${arm_prefix} + ${hand} + ${can_fd} + ${ee_type} + ${control_gains['joint1']['kp']} + ${control_gains['joint2']['kp']} + ${control_gains['joint3']['kp']} + ${control_gains['joint4']['kp']} + ${control_gains['joint5']['kp']} + ${control_gains['joint6']['kp']} + ${control_gains['joint7']['kp']} + ${control_gains['joint1']['kd']} + ${control_gains['joint2']['kd']} + ${control_gains['joint3']['kd']} + ${control_gains['joint4']['kd']} + ${control_gains['joint5']['kd']} + ${control_gains['joint6']['kd']} + ${control_gains['joint7']['kd']} + + + + + + + + + + + + + ${initial_position} + + + + 0.0 + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_arm.xacro b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_arm.xacro new file mode 100644 index 0000000..7aadb2b --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_arm.xacro @@ -0,0 +1,136 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_ee.xacro b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_ee.xacro new file mode 100644 index 0000000..4d27a31 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_ee.xacro @@ -0,0 +1,229 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_robot.xacro b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_robot.xacro new file mode 100644 index 0000000..7a7346e --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_robot.xacro @@ -0,0 +1,624 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_sensor.xacro b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_sensor.xacro new file mode 100644 index 0000000..618f85e --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_sensor.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_utils.xacro b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_utils.xacro new file mode 100644 index 0000000..b5b7227 --- /dev/null +++ b/assets/robot/openarm_v2.0_cell/urdf/utils/openarm_v20_utils.xacro @@ -0,0 +1,224 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rviz/bimanual.rviz b/rviz/bimanual.rviz index e58c036..0df6640 100644 --- a/rviz/bimanual.rviz +++ b/rviz/bimanual.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /Global Options1 Splitter Ratio: 0.5 - Tree Height: 139 + Tree Height: 331 - Class: rviz_common/Views Expanded: - /Current View1 @@ -51,21 +51,27 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - openarm_left_hand: + openarm_cell_link0: Alpha: 1 Show Axes: false Show Trail: false Value: true - openarm_left_hand_tcp: + openarm_left_base_link: Alpha: 1 Show Axes: false Show Trail: false - openarm_left_left_finger: + Value: true + openarm_left_ee_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_ee_link1: Alpha: 1 Show Axes: false Show Trail: false Value: true - openarm_left_link0: + openarm_left_ee_link2: Alpha: 1 Show Axes: false Show Trail: false @@ -100,35 +106,22 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - openarm_left_link7: + openarm_right_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - openarm_left_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - openarm_left_right_finger: + openarm_right_ee_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - openarm_right_hand: + openarm_right_ee_link1: Alpha: 1 Show Axes: false Show Trail: false Value: true - openarm_right_hand_tcp: - Alpha: 1 - Show Axes: false - Show Trail: false - openarm_right_left_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - openarm_right_link0: + openarm_right_ee_link2: Alpha: 1 Show Axes: false Show Trail: false @@ -163,25 +156,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - openarm_right_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - openarm_right_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - openarm_right_right_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - v10_body_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true world: Alpha: 1 Show Axes: false @@ -195,7 +169,9 @@ Visualization Manager: Value: true Visual Enabled: true - Class: rviz_default_plugins/TF - Enabled: true + Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true @@ -223,35 +199,35 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 5 + Distance: 3.707127094268799 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: 0.8521775007247925 + Y: -0.3039990961551666 + Z: 0.8422516584396362 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.33000001311302185 + Pitch: 0.2999999523162842 Target Frame: Value: Orbit (rviz) - Yaw: 5.5 + Yaw: 3.154998540878296 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 826 + Height: 1043 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000100000000000001da000002a8fc0200000002fb000000100044006900730070006c0061007900730100000069000001790000017800fffffffb0000000a0056006900650077007301000001ee000001230000012300ffffff000002ca000002a800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000001da000003b5fc0200000002fb000000100044006900730070006c006100790073010000003f00000215000000cc00fffffffb0000000a00560069006500770073010000025a0000019a000000a900ffffff000005a0000003b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1200 - X: 42 - Y: 64 + Width: 1920 + X: 0 + Y: 0 diff --git a/script/export_urdf b/script/export_urdf new file mode 100644 index 0000000..cd571f6 --- /dev/null +++ b/script/export_urdf @@ -0,0 +1,76 @@ +#!/usr/bin/python3 +import sys +import os +import xacro + +from ament_index_python.packages import get_package_share_directory +from launch_ros.substitutions import FindPackageShare + +# All accepted arm_type values +VALID_ARM_TYPES = { + "v1.0", "v10", "v1_0", "openarm_v1.0", "openarm_v10", "openarm_v1_0", + "v2.0", "v20", "v2_0", "openarm_v2.0", "openarm_v20", "openarm_v2_0", + "v2.0_cell", "v20_cell", "v2_0_cell", "openarm_v2.0_cell", "openarm_v20_cell", "openarm_v2_0_cell", +} + + +def resolve_arm_config(arm_type_str: str) -> tuple[str, str]: + """ + Resolve folder name and xacro file name from arm_type. + Accepts: v1.0, v10, v1_0, openarm_v1.0, openarm_v10, openarm_v1_0 (and v2.0 variants) + Raises ValueError if arm_type is not recognized. + """ + if arm_type_str not in VALID_ARM_TYPES: + raise ValueError( + f"Invalid arm_type: '{arm_type_str}'. " + f"Please specify openarm_v1.0, openarm_v2.0 or openarm_v2.0_cell" + ) + if any(x in arm_type_str for x in ("1.0", "10", "1_0")): + return "openarm_v1.0", "openarm_v10.urdf.xacro" + if "cell" in arm_type_str: + return "openarm_v2.0_cell", "openarm_v20_cell.urdf.xacro" + return "openarm_v2.0", "openarm_v20.urdf.xacro" + +def generate_robot_description(arm_type_str): + """Generate robot description using xacro processing.""" + description_package_str = "openarm_description" + use_fake_hardware_str = "true" + right_can_interface_str = "can0" + left_can_interface_str = "can1" + + folder_name, file_name = resolve_arm_config(arm_type_str) + + xacro_path = os.path.join( + get_package_share_directory(description_package_str), + "assets", "robot", folder_name, "urdf", file_name + ) + + robot_description = xacro.process_file( + xacro_path, + mappings={ + "arm_type": arm_type_str, + "bimanual": "true", + "use_fake_hardware": use_fake_hardware_str, + "ros2_control": "true", + "right_can_interface": right_can_interface_str, + "left_can_interface": left_can_interface_str, + } + ).toprettyxml(indent=" ") + + return robot_description + +def main(): + if len(sys.argv) < 2: + raise ValueError("Missing arm type argument (v1_0, v2_0, v2_0_cell)") + arm_type = sys.argv[1] + export_file = f"{arm_type}.urdf" + + print("Generating URDF") + urdf = generate_robot_description(arm_type) + print("Exporting URDF") + with(open(export_file, "w") as fstream): + fstream.write(urdf) + print("Succesfully exported to " + export_file) + +if __name__ == "__main__": + main()