WAM Add

roboticstoolbox/models/URDF/WAM.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.ERobot import ERobot, ERobot2
+from spatialmath import SE3
+
+
+class WAM(ERobot):
+    """
+    Class that imports a WAM URDF model
+
+    ``WAM()`` is a class which imports a Barrett WAM robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.WAM()
+        >>> print(robot)
+
+    Defined joint configurations are:
+
+    - qz, zero joint angle configuration, 'L' shaped configuration
+    - qr, vertical 'READY' configuration
+    - qs, arm is stretched out in the x-direction
+    - qn, arm is at a nominal non-singular configuration
+
+    .. codeauthor:: Longsen Gao
+    .. sectionauthor:: Peter Corke
+    """
+
+    def __init__(self):
+
+        links, name, urdf_string, urdf_filepath = self.URDF_read(
+            "wam_description/barrett_model/robots/wam7.urdf.xacro"
+        )
+
+        super().__init__(
+            links,
+            name=name,
+            manufacturer="Barrett Robtoics",
+            gripper_links=links[8],
+            urdf_string=urdf_string,
+            urdf_filepath=urdf_filepath,
+        )
+
+        self.grippers[0].tool = SE3(0, 0, 0)
+
+        self.qdlim = np.array(
+            [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
+        )
+
+        self.qr = np.array([0, 0, 0, 0, 0, 0, 0])
+        self.qz = np.zeros(7)
+
+        self.addconfiguration("qr", self.qr)
+        self.addconfiguration("qz", self.qz)
+
+
+if __name__ == "__main__":  # pragma nocover
+
+    r = WAM()
+
+    r.qz
+
+    for link in r.grippers[0].links:
+        print(link)

roboticstoolbox/models/URDF/__init__.py

@@ -23,6 +23,7 @@
 from roboticstoolbox.models.URDF.FetchCamera import FetchCamera
 from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
 from roboticstoolbox.models.URDF.AL5D import AL5D
+from roboticstoolbox.models.URDF.WAM import WAM
 
 __all__ = [
     "Panda",
@@ -50,4 +51,5 @@
     "FetchCamera",
     "Valkyrie",
     "AL5D",
+    "WAM",
 ]

rtb-data/rtbdata/xacro/wam_description/barrett_model/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package barrett_model
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.5.1 (2014-12-10)
+------------------
+* fixing collada up-axes
+* Merge branch 'master' into devel
+* fixing orientation of bhand inertia
+* Contributors: Jonathan Bohren
+
+0.5.0 (2014-12-08)
+------------------
+* adding tf frame for fingertips, fixing naming of the first two fingers
+* updating damping to have a global scale factor
+* Merge branch 'master' of github.com:jhu-lcsr/barrett_model
+* adding cleaner top-level xacro file for barrett system
+* reducing friction and disabling collision for some links
+* decreasing damping for gazebo 2.2.3
+* adding a single xacro file with a bunch of options
+* Merge branch 'master' of github.com:jhu-lcsr/barrett_model
+* updating palm limits
+* fixing stl headers
+* Contributors: Jonathan Bohren
+
+0.4.0 (2014-08-29)
+------------------
+* increasing max effort for wrist joints
+* updating ball urdf to have a frame in the middle of the ball
+* Contributors: Jonathan Bohren
+
+0.3.0 (2014-07-22)
+------------------
+* adding additional frames for use as moveit end-effectors
+* decreasing joint damping for simulation
+* Contributors: Jonathan Bohren
+
+0.2.0 (2014-07-15)
+------------------
+* decreasing damping for wam joints to increase performance
+* increasing damping for simulation stability
+* Contributors: Christopher Paxton, Jonathan Bohren
+
+0.1.0 (2014-04-17)
+------------------
+* fixing joint limits
+* more realistic damping
+* updating wam ball
+* bball
+* fixing palm link, forearm, and upper arm inertia (palm link was in the wrong place)
+* run dep
+* Merge branch 'master' of github.com:jhu-lcsr/barrett_model
+* decreasing damping
+* Update README.md
+* Update README.md
+* Update README.md
+* adding scrots
+* adding simplified collision geometry
+* adding realistic velocity limits, damping
+* Tweaking limits
+* fixing velocity limits which were messing up high-performance motions in gazebo
+* increasing bhand damping in simulation
+* moving gz tags to common and adding them to the hand
+* Using new implicitSpringDamper tag instead of cfmDamping tag
+* Adding better damping characterization
+* updating for new xacro include tag
+* adding in damping that gazebo actually reads
+* updating doc
+* Major cleanup
+* Cleaning up robot urdfs
+* updating wrist pitch limits
+* Removing old dynamics tags, replacing with new gazebo xacro
+* Adding missing mass to link, this was angering gazebo
+* updating inertial properties
+* Updating inertial parameters from those observed in the lab. Adding stubby 4-dof WAM.
+* Fixing inertial properties
+* fixing top-level xacro files
+* adding better export frame
+* gh formatting
+* gh formatting
+* gh formatting
+* gh formatting
+* fixing base link coordinate frame
+* Create README.md
+* adding cad files
+* cleaning up...
+* new and improved
+* catkinizing
+* add in bench lattice to urdf
+* Removing big wall in base link, fixing damping-induced explosion when adding the last link
+* fixing wrist link
+* Fixing more stuff in urdf, making base link fixed to the world
+* Updates, getting things running in gazebo
+* Adding base to wam urdf
+* Fixing two arm test, non-FT urdf wrist
+* wam sim working with new launchfiles
+* lots of launchfile refactoring
+* updating wam stub test
+* adding 4dof wam for testing
+* adding single 7dof wam for testing
+* adding ready-to-use models
+* streamlining model
+* renaming barrett_urdf back to bard_urdf
+* renaming bard_urdf to barrett_urdf
+* smooth gains, happy IK
+* fixed joint effort limits, control switching could be made a bit less complex, joint traj controller is smooth, but could use more testing, experimentation with derivative gains needed
+* working ik pose controller
+* fixing urdf
+* adding tesr urdf
+* updating launchfile and fixing urdf
+* lots of updates
+* functioning grav comp
+* working grav comp
+* kdl chain solver takes link names and not joint names as arguments
+* updating bard urdf to have non-ft stuff
+* about to fix the wrist stuff
+* adding non-ft barrett wrist
+* renaming root to example, and separating the wam arm with and without a hand
+* adding this, will be gone soon
+* renaming darpa_arm to wam_arm
+* removing center bar
+* fixing normals
+* fixing normals
+* adding popeye bench lattice, will move soon
+* adding base back in
+* removing WAM from urdf path name
+* adding bard urdf
+* Contributors: Jonathan Bohren

rtb-data/rtbdata/xacro/wam_description/barrett_model/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(barrett_model)
+
+find_package(catkin REQUIRED)
+
+catkin_package()

rtb-data/rtbdata/xacro/wam_description/barrett_model/README.md

@@ -0,0 +1,63 @@
+Barrett Model
+=============
+
+This repository contains Barrett WAM & BHand-280 CAD and modular URDFs with inertial properties.
+
+The meshes and kinematics are based on publicly available resources from barrett.com. The dynamic properties are based on guidance from barrett.com as well as experiences with a real WAM and BH8-280.
+
+## Visual
+
+These are based on meshes exported directly from SolidWorks.
+
+![](doc/wam_visual.png)
+
+## Collision Meshes
+
+The meshes used for collsion are sets of convex meshes processed manually in Blender to capture important surfaces and geometry.
+
+![](doc/wam_collision.png)
+
+
+### Joint Naming Conventions
+
+* macro: `wam_7dof`
+    * macro: `wam`
+        * `PREFIX/base_yaw_joint`
+        * `PREFIX/shoulder_pitch_joint`
+        * `PREFIX/shoulder_yaw_joint`
+        * `PREFIX/elbow_pitch_joint`
+    * macro: `wam_wrist`
+        * `PREFIX/wrist_yaw_joint`
+        * `PREFIX/wrist_pitch_joint`
+        * `PREFIX/palm_yaw_joint`
+
+* macro: `bhand`
+  * `PREFIX/finger_1/prox_joint`
+  * `PREFIX/finger_1/med_joint`
+  * `PREFIX/finger_1/dist_joint`
+  * `PREFIX/finger_2/prox_joint`
+  * `PREFIX/finger_2/med_joint`
+  * `PREFIX/finger_2/dist_joint`
+  * `PREFIX/finger_3/med_joint`
+  * `PREFIX/finger_3/dist_joint`
+
+### Examples
+
+To create a 7-DOF WAM with a Barrett Hand:
+
+```xml
+<xacro:wam_7dof 
+  prefix="wam_left" 
+  parent_link="bench_link" 
+  xyz="0.02 0.46 1" rpy="${PI} ${-PI/2} 0"/>
+<xacro:bhand 
+  prefix="wam_left/bhand" 
+  parent_link="wam_left/wrist_palm_link" 
+  xyz="0 0 0.06" rpy="0 0 0"/>
+```
+
+The easiest way to view the robot models is with the `urdf_tutorial` package:
+
+```
+roslaunch urdf_tutorial xacrodisplay.launch model:=robots/wam7_bhand.urdf.xacro gui:=true
+```

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/bhand/BarrettHand280-SolidWorks/B4157.SLDPRT_Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/bhand/BarrettHand280-SolidWorks/B4158.SLDPRT_Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/bhand/BarrettHand280-SolidWorks/B4159.SLDPRT_Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/bhand/BarrettHand280-SolidWorks/B4160.SLDPRT_Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/bhand/BarrettHand280-SolidWorks/BarrettHand-280.SLDASM_Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

rtb-data/rtbdata/xacro/wam_description/barrett_model/cad/wam/~ReadMeFirst--TopLevelAssemblyKey.txt

@@ -0,0 +1,19 @@
+Please use key below to determine your top-level assembly of interest.
+
+B2731 4-axis WAM arm
+B3435 4-axis WAM arm with BarrettHand
+B3320 7-axis WAM arm
+B3321 7-axis WAM arm with BarrettHand
+B2579 BarrettHand
+B1314 WAM workspace
+B2646 4-axis WAM arm with 3-axis rehabilitation gimbals
+
+These associated Barrett assemblies and parts are current as of 22-July-2007.
+
+Please contact [email protected] if you have trouble with these files or if you cannot find the format that you need.
+
+Comments:
+1.  Native files were created in SolidWorks.
+2.  Translations may have broken mates.  (small black squares showing up near the Hand model are likely only finger labels that can be safely deleted.
+3.  Coordinate frames with associated curved arrows may be deleted or hidden/supressed as desired.
+4.  The workspace may be hidden/supressed as desired.

rtb-data/rtbdata/xacro/wam_description/barrett_model/models/arm.urdf.xacro

@@ -0,0 +1,58 @@
+<!--
+ * COPYRIGHT (C) 2010
+ * RE2, INC.
+ *
+ * Author: RE2
+ *
+ * This file is a part of RobotModel, which was developed for the
+ * DARPA ARM ROBOT Track C project.
+ *
+ * RobotModel is free software:
+ * you can redistribute it and/or modify it under the terms of the GNU General
+ * Public License as published by the Free Software Foundation, either version
+ * 3 of the License, or (at your option) any later version.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this package.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * RE2, INC. disclaims all warranties with regard to this software, including
+ * all implied warranties of merchantability and fitness, in no event shall
+ * RE2, INC. be liable for any special, indirect or consequential damages or
+ * any damages whatsoever resulting from loss of use, data or profits, whether
+ * in an action of contract, negligence or other tortious action, arising out
+ * of or in connection with the use or performance of this software.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find barrett_model)/models/common.urdf.xacro"/>
+  <xacro:include filename="$(find barrett_model)/models/components.urdf.xacro"/>
+
+  <xacro:macro name="wam_7dof" params="prefix xyz rpy">
+    <xacro:wam prefix="${prefix}" xyz="${xyz}" rpy="${rpy}"/>
+    <xacro:wam_wrist prefix="${prefix}"/>
+    <xacro:wam_wrist_palm_stump prefix="${prefix}"/>
+  </xacro:macro>
+
+  <xacro:macro name="wam_4dof" params="prefix parent_link xyz rpy">
+    <xacro:wam prefix="${prefix}" parent_link="${parent_link}" xyz="${xyz}" rpy="${rpy}"/>
+    <xacro:wam_stump prefix="${prefix}"/>
+  </xacro:macro>
+
+  <!-- upper arm only -->
+  <xacro:macro name="wam" params="prefix xyz rpy">
+    <!--<xacro:wam_base prefix="${prefix}" parent_link="${parent_link}" xyz="${xyz}" rpy="${rpy}"/>-->
+    <xacro:wam_shoulder_yaw prefix="${prefix}"/>
+    <xacro:wam_shoulder_pitch prefix="${prefix}"/>
+    <xacro:wam_upper_arm prefix="${prefix}"/>
+  </xacro:macro>
+
+  <!-- forearm with actuation "wrist" -->
+  <xacro:macro name="wam_wrist" params="prefix">
+    <xacro:wam_forearm prefix="${prefix}"/>
+    <xacro:wam_wrist_yaw prefix="${prefix}"/>
+    <xacro:wam_wrist_pitch prefix="${prefix}"/>
+    <xacro:wam_palm prefix="${prefix}"/>
+  </xacro:macro>
+
+</robot>