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hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/
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Add Dex Wrist3 xacros/meshes #100

Closed hello-binit closed 3 months ago

hello-binit commented 4 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 4 months ago

Screenshot from 2024-01-16 16-22-19

Hey @aedsinger and @hello-fazil, there seems to be some issues with the DW3 xacros files. For example, in this screenshot, the left fingertip aruco frame is centered on the aruco marker, but the right fingertip aruco frame is centered on the fingertip itself. FYI, the xacros are from the Stretch URDF repo, so those files would have the same issue.

hello-binit commented 4 months ago

Screenshot from 2024-01-16 16-38-11 Screenshot from 2024-01-16 16-27-38

Also, compared to a Dex Wrist, the DW3 left fingertip frame is rotated 90 degrees around the Y axis.

hello-binit commented 4 months ago

Screenshot from 2024-01-16 16-44-04 Screenshot from 2024-01-16 16-30-30

Also, the DW3 wrist yaw bottom frame is rotated -180 degrees around the Z axis.

hello-binit commented 4 months ago

All the other frames match the previous convention.