add single fr3

[yuki-asano]

• added minimum set of fr3 (franka research 3) model which is almost same with panda model (only name is different)
• confirmed motions of the real robot by

(send *ri* :angle-vector (send *fr3* :angle-vector) 5000)
(send *ri* :start-grasp :rarm)
(send *ri* :stop-grasp :rarm)

[k-okada]

if the only difference is name , why not load the existing lisp file and change robot name?

◉ Kei Okada

2023年10月31日(火) 20:45 Shun Hasegawa @.***>:

@.**** approved this pull request.

JSK does not have fr3, so I only confirmed that fr3.l seems correctly generated and the following procedure works on kinematic simulator:

(fr3-init) (objects (list fr3)) (send ri :stop-grasp :rarm) (send ri :start-grasp :rarm) (send fr3 :stop-grasp :rarm) (send fr3 :start-grasp :rarm) (send fr3 :init-pose) (send ri :angle-vector (send fr3 :angle-vector) 5000)

— Reply to this email directly, view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/pull/1885#pullrequestreview-1706094769, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXCMMM2L6TVJIPWQ3S3YCDQDPAVCNFSM6AAAAAA6XAW2YGVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMYTOMBWGA4TINZWHE . You are receiving this because you are subscribed to this thread.Message ID: @.***>

[pazeshun]

@k-okada

if the only difference is name , why not load the existing lisp file and change robot name?

I think @yuki-asano 's explanation is incorrect.

At least, joint names are different, so we have to generate fr3.l: https://github.com/jsk-ros-pkg/jsk_robot/pull/1885/files#diff-3518a932c47d029d01ebd0f0d3e9f8d0656adbca5d2c218f48b9e326124596e1R2-R8 vs. https://github.com/jsk-ros-pkg/jsk_robot/blob/ddf454dd5f4f4c1aa43b81fda6e17a24d96c721f/jsk_panda_robot/panda_eus/models/panda.yaml#L2-L8

So it is hard to reuse panda-utils.l in fr3-utils.l, because current panda-utils.l uses defmethod against panda-robot, not fr3-robot: https://github.com/jsk-ros-pkg/jsk_robot/blob/ddf454dd5f4f4c1aa43b81fda6e17a24d96c721f/jsk_panda_robot/panda_eus/euslisp/panda-utils.l

As for fr3-interface.l, we may be able to reuse panda-interface.l by defining fr3-interface as a child class of panda-interface. ~I do not think this is a good idea because code uniformity (parent class of all franka robots' interfaces is franka-common-interface) becomes lost, but I'll follow @k-okada 's decision.~ I reconsidered and will make a PR for this. -> https://github.com/yuki-asano/jsk_robot/pull/5

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping