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hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
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Add Dex Wrist3 xacros/meshes #123

Closed hello-binit closed 5 months ago

hello-binit commented 5 months ago

This PR introduces the xacros/meshes files needed to compile a Dex Wrist3 URDF for Stretch. The Dex Wrist3 is a new tool with an eye-in-hand camera.

Testing

To compile a new URDF with the DW3, rename the stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro to stretch_description.xacro, and follow the URDF generation instructions (part of this PR).

hello-binit commented 5 months ago

Merged the new instructions that were part of this PR in commit https://github.com/hello-robot/stretch_ros/commit/5854e956a7f1331f95434aa169a00cc73163f0b8